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Real-Time Vibration Suppression and Composite Adaptive Control of Coordinated Motion for Space Flexible Manipulator

[+] Author Affiliations
Zhaobin Hong, Chen Li

Fuzhou University, Fuzhou, Fujian, China

Paper No. DETC2010-28378, pp. 1509-1514; 6 pages
doi:10.1115/DETC2010-28378
From:
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4410-6 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME

abstract

The real-time vibration suppression and composite adaptive control of coordinated motion for space flexible manipulator with an attitude-controlled base are studied. The dynamic equations of the system are developed by using the Lagrangian assumed modes methods. It is verified that the dynamic equation and Jacobi matrix of the system can be linearly dependent on a group of inertial parameters. Based on the results and with the augmentation approach, a composite adaptive control of space flexible manipulator to track the desired trajectory is developed. Considering the dynamics of flexible subsystem, a control scheme is presented to suppress the vibration during the real-time operation. In particular, it doesn’t require measuring the position, velocity nor acceleration of the base because of an effective exploitation of the particular property of the system dynamics. The numerical simulation is carried out, which confirms the controller proposed is feasible and effective.

Copyright © 2010 by ASME

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