The trajectory tracking of space flexible manipulator with large payloads based on optimal control

In this paper, a novel trajectory tracking method based on the optimal control is presented for space flexible manipulator with large payloads. According to the model of Euler-Bernoulli beam, the Lagrange equation and the assumed mode method are used to establish dynamic equation of flexible manipulator. Then the further dynamic equation of space flexible manipulator with large payloads is derived by taking the influence of the payloads into account. On the basis of the above dynamic equation, the trajectory tracking strategy of space flexible manipulator with large payloads is researched by using the optimal control method. A reasonable and effective method is proposed to calculate the weighting coefficients of optimal control. The effectiveness and feasibility of the proposed control algorithm are verified by numerical simulation.