Volume 39 Issue 3
May  2019
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HUANG Xiaoqin, CHEN Li. Finite Time Control of Space Robot with Elastic Base and Flexible Arms[J]. Chinese Journal of Space Science, 2019, 39(3): 399-406. doi: 10.11728/cjss2019.03.399
Citation: HUANG Xiaoqin, CHEN Li. Finite Time Control of Space Robot with Elastic Base and Flexible Arms[J]. Chinese Journal of Space Science, 2019, 39(3): 399-406. doi: 10.11728/cjss2019.03.399

Finite Time Control of Space Robot with Elastic Base and Flexible Arms

doi: 10.11728/cjss2019.03.399
  • Received Date: 2018-06-25
  • Rev Recd Date: 2018-08-31
  • Publish Date: 2019-05-15
  • Based on the finite time control, the trajectory tracking and flexible vibration suppression of a free-floating space robot system with two flexible arms and elastic base are discussed. Because of the multiple dynamic coupling relationship between the elastic base and the two flexible arms, the system is a highly nonlinear system. Firstly, the connection between the elastic base and the first arm is regarded as a linear spring, and the dynamic model of the system is derived from the Lagrange equation of the second kind and the assumed mode method. Secondly, by applying the two time-scale assumptions of singular perturbation theory, the system is decomposed into a slow subsystem which represents the rigid motion and a fast subsystem which represents the elastic base and two arms vibration. For the slow subsystem, a finite-time controller based on the nominal model is designed to realize the rigid desired trajectory tracking. Due to the finite time convergence property of the integral sliding mode surface, it has faster convergence speed and stronger robustness than the traditional asymptotic convergence control method. For the fast subsystem, the linear quadratic optimal control method is adopted to suppress the vibration of the elastic base and the two flexible arms simultaneously. Lyapunov theory is used to prove that the proposed control algorithm can enable the tracking error converging to the origin within a finite time. Finally, the simulations verify the effectiveness of the control method.


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