华中科技大学学报（自然科学版）2011，Vol.39Issue(z2)：28-31,4.
自由浮动空间柔性机械臂轨迹跟踪与振动抑制
Trajectory tracking and vibration suppression of a free-floating flexible space manipulator
摘要
Abstract
Aiming at a flexible space manipulator holding a payload, the fast terminal sliding mode control and an active vibration suppression of the manipulator were studied. On the basis of the assumed modes method, Lagrange principle and momentum conservation, ignoring high stretch libration modal, the dynamic modeling of a free-floating space flexible manipulator holding a rigid payload was derived. Furthermore, a slow subsystem and a fast subsystem were separated based on the singular perturbation method in which the fast terminal sliding mode control method and the nonlinear proportional derivative control method were adopted in each subsystem respectively. Using this combined control method, the system can track the expected trajectory accurately and its flexible vibration is suppressed. Finally, some simulation experiments were conducted to verify the effectiveness of the proposed methods.关键词
空间柔性机械臂/动力学建模/奇异摄动/快速终端滑模控制/振动抑制Key words
space flexible manipulator/ dynamic modeling/ singular perturbation/ fast terminal sliding mode control/ vibration suppression分类
信息技术与安全科学引用本文复制引用
裴希伍,王从庆,吴鹏飞..自由浮动空间柔性机械臂轨迹跟踪与振动抑制[J].华中科技大学学报（自然科学版）,2011,39(z2):28-31,4.基金项目
西安交通大学机械制造工程国家重点实验室资助项目(201002). （201002）
