Improved fuzzy-immune hybrid control and vibration suppression for flexible-base, flexible-joint space robots based on state observation#br#

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Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (19) : 174-182.

CHEN Zhiyong, LI Zhenhan, ZHANG Tingting

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Abstract

The rigid trajectory tracking control and flexible vibration suppression for flexible-base, flexible-joint space robot systems were studied under effects of bounded external disturbances and uncertain pedestal attitude control input proportion.Combined with the system momentum conservation principle and Lagrange method, the flexible compensation and the singular perturbation technique were adopted to establish the singular perturbation dynamic equations of a flexible-base, flexible-joint space robot system.To eliminate influences of external disturbances and uncertain control input proportion on the trajectory tracking precision of a space robot system, a linear velocity observer and a fuzzy controller were introduced based on the traditional immune control algorithm to propose an improved fuzzy- immune hybrid control law, it was independent on controlled slow-varying subsystem models and realized coordinated motion between pedestal attitude and joints of manipulator.To actively suppress double flexible vibrations of pedestal and joints, an optimal control law based on a linear state observer was proposed for fast-varying subsystems.The improved fuzzy-immune hybrid control and vibration suppression scheme was obtained by combining the above two control laws.The proposed control scheme didn’t need measurement and feedback of related velocity signals of the space robot system in process of real time control and kept strong robustness to the system uncertainties.Simulation results verified the effectiveness of the scheme in control of the system’s rigid and flexible motions.

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space robot / state observations / fuzzy immune hybrid control / vibration suppression / optimal control

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CHEN Zhiyong, LI Zhenhan, ZHANG Tingting. Improved fuzzy-immune hybrid control and vibration suppression for flexible-base, flexible-joint space robots based on state observation#br#[J]. Journal of Vibration and Shock, 2018, 37(19): 174-182

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