Volume 43 Issue 2
Mar.  2023
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Article Navigation >  Chinese Journal of Space Science  > 2023  >  43(2): 369-380 Open Access
XIE Limin, YU Xiaoyan. Trajectory Tracking Hybrid Control and Vibration Suppression of Free-floating Multi-flexible Space Robot with Limited Input (in Chinese). Chinese Journal of Space Science, 2023, 43(2): 369-380 doi: 10.11728/cjss2023.02.220120008
Citation: XIE Limin, YU Xiaoyan. Trajectory Tracking Hybrid Control and Vibration Suppression of Free-floating Multi-flexible Space Robot with Limited Input (in Chinese). Chinese Journal of Space Science, 2023, 43(2): 369-380 doi: 10.11728/cjss2023.02.220120008
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Trajectory Tracking Hybrid Control and Vibration Suppression of Free-floating Multi-flexible Space Robot with Limited Input

doi: 10.11728/cjss2023.02.220120008 cstr: 32142.14.cjss2023.02.220120008
  • 1.

    College of Mechanical and Electrical Engineering, Fujian Agriculture and Forestry University, Fuzhou 350002

  • 2.

    Fujian Key Laboratory of Agricultural Information Sensoring Technology, Fuzhou 350002

  • 3.

    School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116

  • Received Date: 2022-01-19
  • Accepted Date: 2022-05-30
  • Rev Recd Date: 2022-10-11
    • Available Online: 2023-03-27
    Abstract
  • In the actual operation of a space robot, the input of the control system is often limited, which will seriously affect the control quality of the system. In this paper, a flexible space robot system based on floating substrate is studied with limited input. The system’s dynamics equation is established through the system’s kinematics and dynamics analysis. For the rigid-flexible coupling system, the singular perturbation method decomposes the system into slow and fast independent subsystems, and control methods are designed for each subsystem. Finally, a hybrid control method consisting of an improved robust sliding mode fuzzy control method, a velocity difference feedback control, and a linear-quadratic optimal control is proposed. The control method can actively reduce the torque required by the space robot to complete the desired movement and make the system adapt to the working conditions with limited input. At the same time, it can compensate for the uncertain parameters and external disturbance and realize the precise control of the system motion and active suppression of vibration. Simulation experiments show that the proposed hybrid control method is effective and adaptable when limited input.

     

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