Attitude motion planning and feedback control for a free-floating flexible space robot based on pseudo-spectral method

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Journal of Vibration and Shock ›› 2019, Vol. 38 ›› Issue (7) : 20-27.

YAO Qijia,GE Xinsheng

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Abstract

Dynamic modeling and attitude control of a free-floating flexible space robot were investigated. In order to deal with effects of initial state uncertainties on the system attitude,an attitude control strategy combining motion planning and feedback control based on the pseudo-spectral method was proposed. Firstly,the elastic deformation of the flexible arm was described approximately with the assumed mode method,and the dynamic model of the space robot system was established using Lagrange method. In design of motion planning,Legendre pseudo-spectral method (LPM) was used to convert the space mechanical arm’s non-holonomic motion planning problem into a nonlinear programming one. Then the sequential quadratic programming algorithm was employed to solve the nonlinear programming problem to obtain the system’s optimized motion trajectory and the optimal control inputs. In design of feedback control,the state equation was linearized on the known reference trajectory. The problem of tracking reference trajectory was converted into a two-point boundary value problem based on Pontryagin’s maximum principle. Then LPM was used to discretize the two-point boundary value problem and convert it into a set of linear algebraic equations to be solved. This process didn’t need any integration calculations and had good real-time performance. Finally,numerical simulations verified the effectiveness and robustness of the proposed attitude control strategy.

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motion planning / space robot / optimal control / feedback control / Legendre pseudospectral method

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YAO Qijia,GE Xinsheng. Attitude motion planning and feedback control for a free-floating flexible space robot based on pseudo-spectral method[J]. Journal of Vibration and Shock, 2019, 38(7): 20-27

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