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

Dynamics and Noncollocated Model‐Free Position Control for a Space Robot with Multi‐Link Flexible... 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. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Asian Journal of Control Wiley

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

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References (35)

Publisher
Wiley
Copyright
"© 2019 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd"
ISSN
1561-8625
eISSN
1934-6093
DOI
10.1002/asjc.1772
Publisher site
See Article on Publisher Site

Abstract

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.

Journal

Asian Journal of ControlWiley

Published: Mar 1, 2019

Keywords: ; ; ; ;

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