南京航空航天大学学报2012，Vol.44Issue(4)：452-457,6.
自由浮动空间柔性机械臂在轨操作刚性载荷的组合控制
Composite Control of On-Orbit Operation of Free-floating Space Flexible Manipulator with Rigid Load
摘要
Abstract
Aiming at a free-floating space flexible manipulator with a rigid load on-orbit, the trajectory tracking control of the load and an active vibration suppression of the flexible manipulator are studied in Cartesian space. On the basis of the assumed modes method, the Lagrange principle and the momentum conservation law, the dynamics modeling of a free-floating space flexible manipulator with a rigid load on-orbit is derived. Furthermore, a slow subsystem and a fast subsystem are separated based on the two-time scale singular perturbation method in which a fuzzy terminal sliding mode control method and a Backstepping control method are adopted in each subsystem respectively. Using this combined controj. method, the manipulator can track the expected trajectory accurately and its flexible vibration can be suppressed during manipulating the rigid load. Finally, the simulation results validate the effectiveness of the proposed method.关键词
空间柔性机械臂/动力学建模/奇异摄动/模糊终端滑模控制/振动抑制Key words
space flexible manipulator/ dynamic modeling/ singular perturbation/ fuzzy 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
王从庆,裴希伍,吴鹏飞..自由浮动空间柔性机械臂在轨操作刚性载荷的组合控制[J].南京航空航天大学学报,2012,44(4):452-457,6.基金项目
西安交通大学机械制造系统工程国家重点实验室基金(201002)资助项目. （201002）
