Singular perturbation augmented robust adaptive PD composite control for flexible-joint dual-arm space robot

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Journal of Vibration and Shock ›› 2015, Vol. 34 ›› Issue (16) : 79-84.

CHEN Zhi-yong，CHEN Li

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Abstract

To solve the joint movement control problem of a flexible-joint dual-arm space robot system with an uncontrolled base under the effects of external disturbances and unknown load parameters, a singular perturbation augmented robust adaptive PD composite control method was proposed. On the design basis of the under-actuated robot dynamic sub-equations and joint motor dynamic sub-equations, a singular perturbation correction model of robot system was established by using the flexibility compensating singular perturbation technique. Then, the composite control law made up of a fast variable state feedback control and an augmented robust adaptive PD slow control were designed for a flexible-joint dual-arm space robot with the unknown upper bound external disturbances and unknown load parameters. Simulation results confirm that the influences of the joint flexibility, unknown external disturbances and unknown load parameters can be eliminated effectively by the presented singular perturbation augmented robust adaptive PD composite control method, and the desired joint movement tasks of dual-arm space robot are performed accurately.

Key words

flexible-joint / dual-arm space robot / augmented robust adaptive PD control / singular perturbation / external disturbances

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CHEN Zhi-yong，CHEN Li. Singular perturbation augmented robust adaptive PD composite control for flexible-joint dual-arm space robot[J]. Journal of Vibration and Shock, 2015, 34(16): 79-84

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