Dynamics and noncollocated model-free position control for a space robot with multi-link flexible manipulators. (English) Zbl 1422.93123
Summary: 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.
MSC:
| 93C85 | Automated systems (robots, etc.) in control theory |
| 93B52 | Feedback control |
| 93D05 | Lyapunov and other classical stabilities (Lagrange, Poisson, \(L^p, l^p\), etc.) in control theory |
Keywords:
dynamics; model-free position control; noncollocated feedback; space robot; flexible manipulatorsReferences:
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