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Chinese Journal of Space Science ›› 2020, Vol. 40 ›› Issue (6): 1125-1134.

• Research Articles •

### Influence of Intelligent Hierarchical Control for Flexible-Joint Dual-arm Space Based on Finite Difference Method

LIANG Jie1,2, QIN Kaiyu2

1. 1 State Key Laboratory of Aerodynamics, China Aerodynamics Research and Development Center, Mianyang 621000;
2 School of Astronautics and Aeronautic, University of Electronic Science and Technology of China, Chengdu 611731
• Received:2019-04-12 Revised:2020-09-17 Published:2020-12-09

Abstract: Because of their unique properties and good performance, some elastic components, such as the harmonic reducers and the torque sensors, are widely used in the joints of the space robots and manipulators, in order to obtain high reduction ratio. Due to the existence of elastic components, joint flexibility is introduced into the space robot system, which makes its stability control more complex. As a result, the intelligent hierarchical control based on finite difference method and elastic vibration suppression for dual-arm flexible space robot with uncertain parameters is discussed. The hierarchical dynamics model of the system is derived by applying the theory of hierarchical systems, the principle of momentum conservation of the system and the Lagrangian method of the second kind. By the aforementioned model, the non-singular terminal sliding mode control algorithms based on Recurrent Fuzzy Neural Network (RFNN) and the sliding mode control algorithm based on finite difference method are designed. It is found that the uncertain parts of the system are approached by RFNN, and at the same time, in order to avoid the complicated derivative calculation and the requirement of measurable angular acceleration, the sliding mode control based on the finite difference method is used to suppress the vibration of flexible joints. The control algorithm has the significant advantage of being suitable for an arbitrarily sized joint flexible rigidity in theory because it does not involve the common singular perturbation two-time-scale decomposition operation. The system comparison and simulation results show that the proposed intelligent hierarchical control algorithm is superior to the traditional control scheme based on singular perturbation.

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