计算力学学报2016，Vol.33Issue(2)：144-149,6.DOI:10.7511/jslx201602002
漂浮基柔性两杆空间机械臂的关节运动鲁棒控制与柔性振动最优控制
Robust joint motion control and vibration optimal control for a free-floating two-flexible-link space manipulator
摘要
Abstract
A robust joint motion control and vibration optimal control is addressed for a free‐floating two‐flexible‐link space manipulator with unknown but bounded external disturbances and parameters . The dynamic model of a free‐floating space manipulator with two flexible links is established by the momentum conservation and the Lagrange equations .Based on singular perturbation approach and choo‐sing appropriate local coordinate frame ,the interactions of rigid and flexible motion and the interactions of flexible motion of the two flexible links are decoupled ,and a slow subsystem and a flexible‐link fast subsystem are obtained .Then the corresponding controllers are proposed for the two subsystems ,which are the augmented slow subsystem controller and the flexible link fast subsystem optimal controller .And a composite controller is combined with the two subsystem controllers to control the joint motion and the flexible links vibrations simultaneously .Numerical simulation demonstrates the proposed control algo‐rithm’s efficiency .The virtue of this control scheme is that the linear position ,linear velocity ,linear acceleration of the base needn’t be measured directly .关键词
飘浮基柔性两杆空间机械臂/奇异摄动理论/增广法/鲁棒控制/关节运动控制/振动最优控制Key words
free-floating two-link flexible space manipulator/singular perturbation theory/augmented approach/robust control/joint motion control/vibration optimal control分类
信息技术与安全科学引用本文复制引用
于潇雁,陈力..漂浮基柔性两杆空间机械臂的关节运动鲁棒控制与柔性振动最优控制[J].计算力学学报,2016,33(2):144-149,6.基金项目
国家自然科学基金（11372073，11072061）；福建省自然科学基金（2016J01228）资助项目． （）
