Volume 36 Issue 2
Mar.  2016
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YE Bingneng, CHEN Li. Time Delay Estimation of Flexible Space Robot Robust H∞ Control and Vibration Suppression[J]. Chinese Journal of Space Science, 2016, 36(2): 237-244. doi: 10.11728/cjss2016.02.237
Citation: YE Bingneng, CHEN Li. Time Delay Estimation of Flexible Space Robot Robust H Control and Vibration Suppression[J]. Chinese Journal of Space Science, 2016, 36(2): 237-244. doi: 10.11728/cjss2016.02.237

Time Delay Estimation of Flexible Space Robot Robust H Control and Vibration Suppression

doi: 10.11728/cjss2016.02.237
  • Received Date: 2015-01-26
  • Rev Recd Date: 2015-09-27
  • Publish Date: 2016-03-15
  • This paper discusses the trajectory tracking and vibration suppression of free-floating flexible space robot with uncertain system parameters, which combines the advantages of time delay estimation control and robust H control. Time-delayed estimation is used to achieve unknown dynamics of space robot system online and to perform a compensation during the tracking control. L2 gain control is employed to achieve L2 interference suppression of time-delay estimation error, which could further improve the robustness of the system. At the same time, theoretical analysis proves that the introduction of L2 gain control can suppress the influence of time delay estimation error on the system to satisfy the robust H performance, and ensures all signals in the closed-loop system to be bounded. In addition, the virtual control force is proposed to transform the original control scheme, which can achieve both tracking the desired trajectory and suppressing the flexible vibration control target through only one control input. Simulation results and comparison chart are given to illustrate the effectiveness of the proposed control scheme and the active vibration suppression of flexible.

     

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