A second-order parametric approach to track following control of FFSM

Author

Li Shi ; Duan Guang-Ren ; Li Bin

Author_Institution

Harbin Inst. of Technol., Harbin, China

fYear

2011

fDate

22-24 July 2011

Firstpage

2271

Lastpage

2274

Abstract

In this paper, a robust second-order parametric approach to track following control is proposed for the free-flying space manipulator (FFSM) system. The dynamic equation of the system is derived via momentum conservation law and Lagrangian equation. It is a second-order matrix nonlinear formulation in nature. A feedback stabilizing controller and a feedforward compensation controller are built based on the parametric approach. The free parameters are optimized to obtain desired requirement and characteristics. The scheme can be applied to multi-objective optimization problem too. Simulation results are presented to show the effectiveness of the proposed method.

Keywords

aerospace robotics; feedback; feedforward; manipulators; optimisation; position control; robust control; FFSM; Lagrangian equation; feedback stabilizing controller; feedforward compensation controller; free flying space manipulator system; momentum conservation law; multiobjective optimization problem; robust second order parametric approach; second order parametric approach; second-order matrix nonlinear formulation; track following control; Manipulator dynamics; Mathematical model; Optimization; Robustness; Trajectory; Free-flying space manipulator (FFSM); Parametric approach; Track following control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2011 30th Chinese

Conference_Location

Yantai

ISSN

1934-1768

Print_ISBN

978-1-4577-0677-6

Electronic_ISBN

1934-1768

Type

conf

Filename

6000755