Dynamics and Noncollocated Model‐Free Position Control for a Space Robot with Multi‐Link Flexible Manipulators

In this paper, both the dynamics and noncollocated model‐free position control (NMPC) for a space robot with multi‐link flexible manipulators are developed. Using assumed modes approach to describe the flexible deformation, the dynamic model of the flexible space robotic system is derived with Lagra...

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Veröffentlicht in:Asian journal of control Jg. 21; H. 2; S. 714 - 724
Hauptverfasser: Yang, Xinxin, Ge, Shuzhi Sam, Liu, Jinkun
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Hoboken Wiley Subscription Services, Inc 01.03.2019
Schlagworte:
Algorithms
Computer simulation
Deformation
Dynamic models
Dynamics
Economic models
Feedback
Flexible manipulators
Liapunov direct method
model‐free position control
noncollocated feedback
Parameter uncertainty
Robot arms
Robot control
Robots
Robust control
Robustness (mathematics)
space robot
Space robots
Vibration control
ISSN:1561-8625, 1934-6093
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Zusammenfassung:In this paper, both the dynamics and noncollocated model‐free position control (NMPC) for a space robot with multi‐link flexible manipulators are developed. Using assumed modes approach to describe the flexible deformation, the dynamic model of the flexible space robotic system is derived with Lagrangian method to represent the system dynamic behaviors. Based on Lyapunov's direct method, the robust model‐free position control with noncollocated feedback is designed for position regulation of the space robot and vibration suppression of the flexible manipulators. The closed‐loop stability of the space robotic system can be guaranteed and the guideline of choosing noncollocated feedback is analyzed. The proposed control is easily implementable for flexible space robot with both uncertain complicated dynamic model and unknown system parameters, and all the control signals can be measured by sensors directly or obtained by a backward difference algorithm. Numerical simulations on a two‐link flexible space robot are provided to demonstrate the effectiveness of the proposed control.
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ISSN:1561-8625
1934-6093
DOI:10.1002/asjc.1772