Global Sliding Mode Tracking Control and ESO Vibration Suppression for Free-Floating Flexible Space Robot Based on Singular Perturbation Method

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Journal of Vibration and Shock ›› 2016, Vol. 35 ›› Issue (23) : 14-22.

PANG Zhe-nan1, ZHANG Guo-liang1, YANG Fan1,2, WU Ge1, CHEN Zhi-kan1

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Abstract

Joints trajectory tracking control and flexible vibration active suppression techniques for a free-floating flexible space robot (FFFSR) are discussed under parameter uncertainties and bounded disturbance. A composite controller containing a slow control subsystem for joints trajectory tracking control and a fast control subsystem for describing flexible vibration is proposed using singular perturbation method. In the slow subsystem, an improved global sliding mode function with a low pass filter to suppress sliding mode chattering is designed to achieve global robust and fast convergence of the tracking. The fast subsystem adopts an extended state observer (ESO) to estimate coordinate derivatives of flexible modal and uncertain disturbance, which can hardly be measured, and use LQR method to suppress the flexible vibration. Numerical simulation results demonstrate the feasibility and effectiveness of the proposed control strategy.

Key words

Free-Floating Flexible Space Robot(FFFSR) / Singular Perturbation Method / Global Sliding Mode Control(GSMC) / Low-Pass Filter(LPF) / Extended State Observer(ESO) / Uncertainty

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PANG Zhe-nan1, ZHANG Guo-liang1, YANG Fan1,2, WU Ge1, CHEN Zhi-kan1. Global Sliding Mode Tracking Control and ESO Vibration Suppression for Free-Floating Flexible Space Robot Based on Singular Perturbation Method[J]. Journal of Vibration and Shock, 2016, 35(23): 14-22

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