中国机械工程2016，Vol.27Issue(18)：2447-2452,6.DOI:10.3969/j.issn.1004-132X.2016.18.006
漂浮基柔性空间机械臂的模糊H∞鲁棒控制及柔性振动最优控制
Fuzzy Robust H∞ Control and Flexible Vibration Optimal Control for Free-floating Flexible Space Manipulator
摘要
Abstract
The traj ectory tracking and vibration suppression control for free-floating flexible space manipulator with disturbance were discussed.With the momentum conservation relations,system dy-namics model was set up by the Lagrange method.Using the two-time scale decomposition of singular perturbation method,and the system was decomposed into a slow subsystem which was described joint trajectory tracking and a fast subsystem which was described the vibration of flexible manipula-tor.Then a composite controller consisting of a slow control component and a fast control component was proposed.For the slow subsystem,adaptive fuzzy H∞ control algorithm was designed,the fuzzy logic system was used to approximate the system uncertainty,and a robust H∞ control was used to overcome the fuzzy approximation errors and eliminate the influences of the external disturbance on the output tracking errors.For the fast subsystem,optimal linear quadratic regulator(LQR)was de-signed to damp out the vibration of the flexible links.Based on Lyapunov stability theory,it is proved that this algorithm can ensure the control system is asymptotically stable.Numerical simulation re-sults illustrate that the proposed controller is reliable and effective,this control scheme makes the tracking errors of the system and the flexible vibrations quickly convergence.关键词
漂浮基柔性空间机械臂/奇异摄动法/自适应模糊/H∞鲁棒控制Key words
free-floating flexible space manipulator/singular perturbation method/adaptive fuzzy/H∞ robust control分类
信息技术与安全科学引用本文复制引用
张丽娇,陈力..漂浮基柔性空间机械臂的模糊H∞鲁棒控制及柔性振动最优控制[J].中国机械工程,2016,27(18):2447-2452,6.基金项目
国家自然科学基金资助项目(11372073,11072061) （11372073,11072061）
福建省工业机器人基础部件技术重大研发平台(2014H21010011) （2014H21010011）
