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Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System : Controllo dello slittamento composito per un manipolatore con accoppiamento libero rigido-flessibile, in: International Journal of Advanced Robotic Systems |
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Información general |
| Autor |
Congqing, Wang; Pengfei, Wu; Xin, Zhou; Xiwu, Pei |
| Publicado |
InTech Open Access Publisher, 2013
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| Abstract |
The flexible space manipulator is a highly
nonlinear and coupled dynamic system. This paper
proposes a novel composite sliding mode control to deal
with the vibration suppression and trajectory tracking of
a free‐floating space rigid‐flexible coupling manipulator
with a rigid payload. First, the dynamic equations of this
system are established by using Lagrange and assumed
mode methods and in the meantime this dynamic
modelling allows consideration of the modelling errors,
the external disturbance and the vibration damping of a
flexible link. Then, in modal space, the problems of the
manipulator system’s trajectory tracking and the
vibration suppression are discussed by using the
composite control approach, which combines a nonsingular
terminal sliding mode control (NTSMC) with an
active vibration suppression control (AVSC). The NTSMC
uses a fuzzy logic output instead of the symbol item,
which smoothes the control signal, thereby inhibiting the
chattering of the sliding mode control. Compared with
common sliding mode control (SMC), the approach not
only can reduce the chattering of the sliding mode
control, but also can eliminate the singular phenomenon
of the system’s control input. In addition, it can assure the
trajectory tracking and the vibration suppression. Many
space missions can benefit from this modelling system,
such as autonomous docking of satellites, rescuing and
satellite servicing. Finally, the numerical simulations
were carried out, which confirmed the effectiveness of
these methods. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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