Title :
Dynamics and tracking control for a free-flying space robot with rigid-flexible links
Author :
Xinxin Yang ; Ge, S.S.
Author_Institution :
Dept. of Autom. Sci. & Electr. Eng., Beihang Univ. (BUAA), Beijing, China
Abstract :
In this paper, both the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. The dynamic model of the system is described with assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of sliding mode control and active vibration control is derived to track the desired trajectory and to overcome the bounded disturbances. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulation results show the proposed control works well.
Keywords :
aerospace robotics; closed loop systems; mobile robots; perturbation techniques; robot dynamics; stability; variable structure systems; vibration control; Lagrangian method; active vibration control; assumed mode approach; bounded disturbances; closed-loop stability; composite control scheme; dynamics control; flexible space robot; free-flying space robot; rigid-flexible links; singular perturbation approach; sliding mode control; tracking control; Aerospace electronics; Manipulator dynamics; Robot kinematics; Space vehicles; Vectors; Dynamics; Flexible Free-Flying Space Robot; Sliding Mode Control; Vibration Control;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932688
