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

fYear

2014

fDate

28-30 July 2014

Firstpage

394

Lastpage

399

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2014 IEEE International Conference on

Conference_Location

Hailar

Type

conf

DOI

10.1109/ICInfA.2014.6932688

Filename

6932688