Volume 33 Issue 5
Sep.  2013
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WANG Zongyuan, CHEN Li. Fuzzy Neural Networks Sliding Mode Control and Active Vibration Suppression for Free-floating Space Flexible Manipulator[J]. Chinese Journal of Space Science, 2013, 33(5): 569-576. doi: 10.11728/cjss2013.05.569
Citation: WANG Zongyuan, CHEN Li. Fuzzy Neural Networks Sliding Mode Control and Active Vibration Suppression for Free-floating Space Flexible Manipulator[J]. Chinese Journal of Space Science, 2013, 33(5): 569-576. doi: 10.11728/cjss2013.05.569

Fuzzy Neural Networks Sliding Mode Control and Active Vibration Suppression for Free-floating Space Flexible Manipulator

doi: 10.11728/cjss2013.05.569
  • Received Date: 2012-11-30
  • Rev Recd Date: 2013-04-14
  • Publish Date: 2013-09-15
  • This paper discusses the trajectory tracking and vibration suppression of free-floating flexible space manipulator with uncertain system parameters. The conception of virtual control force is used to design a virtual desired trajectory which reflects both flexible vibration and rigid motion. Then, in order to steadily track the trajectories of the base's attitude and the joint angle, the adaptive non-singular terminal sliding mode controller is proposed to track the desired trajectory. The controller integrates the advantages of terminal sliding mode technique, Fuzzy Wavelet Neural Network (FWNN) with good function approximation characteristic and robust control technology to process approximate error. In addition, adaptive algorithm is adopted for fuzzy wavelet neural network to adaptively adjust its all network weights and parameters, so the controller has strong robustness. Simulation results are given to illustrate the effectiveness of the proposed control scheme.

     

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