The partitioned adaptive control and vibration suppression of free-floating space robot with flexible arms in post-impact process are studied. At first, the dynamic model of combination system after flexible space robot system capturing a target system is established based on the collision theory; the impact effect of space robot combination system after capture operation is analyzed at the same time. Secondly, based on the double time scale decomposition theory, the unstable combination system is decomposed into fast system and slow system, representing the rigid motion of the system and the flexible vibration respectively. To satisfy the compute capacity of space-borne computer and modular design concept, the slow system is considered as a set of interconnected subsystems and a decentralized adaptive neural network control scheme is designed. Neural network is applied to approximating the unknown dynamic of the subsystems; an adaptive sliding mode controller is designed to eliminate both interconnection term and approximation error. The control algorithm has a cutting edge in independent control signal and reduced calculation amount. The Linear Quadratic Optimal control scheme is designed for fast system to suppress the elastic vibration of the flexible manipulators. At last, numerical example demonstrates the validity of the proposed composite control scheme.
Skip Nav Destination
ASME 2018 Dynamic Systems and Control Conference
September 30–October 3, 2018
Atlanta, Georgia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5189-0
PROCEEDINGS PAPER
Partitioned Adaptive Control Based on Neural Network of a Flexible Space Robot After Capture Operation Available to Purchase
Jing Cheng,
Jing Cheng
Tsinghua University, Beijing, China
Search for other works by this author on:
Jianxun Liang,
Jianxun Liang
Tsinghua University, Beijing, China
Search for other works by this author on:
Wei Ma
Wei Ma
Beijing Key Laboratory of Intelligent Space Robotic Systems and Applications, Beijing, China
Search for other works by this author on:
Jing Cheng
Tsinghua University, Beijing, China
Li Chen
Fuzhou University, Fuzhou, China
Jianxun Liang
Tsinghua University, Beijing, China
Wei Ma
Beijing Key Laboratory of Intelligent Space Robotic Systems and Applications, Beijing, China
Paper No:
DSCC2018-9167, V001T01A011; 8 pages
Published Online:
November 12, 2018
Citation
Cheng, J, Chen, L, Liang, J, & Ma, W. "Partitioned Adaptive Control Based on Neural Network of a Flexible Space Robot After Capture Operation." Proceedings of the ASME 2018 Dynamic Systems and Control Conference. Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare. Atlanta, Georgia, USA. September 30–October 3, 2018. V001T01A011. ASME. https://doi.org/10.1115/DSCC2018-9167
Download citation file:
38
Views
Related Proceedings Papers
Related Articles
Vibration Suppression in Cutting Tools Using a Collocated Piezoelectric Sensor/Actuator With an Adaptive Control Algorithm
J. Vib. Acoust (October,2010)
A Learning Variable Structure Controller of a Flexible One-Link Manipulator
J. Dyn. Sys., Meas., Control (December,2000)
Using Constrained Bilinear Quadratic Regulator for the Optimal Semi-Active Control Problem
J. Dyn. Sys., Meas., Control (November,2017)
Related Chapters
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
A Novel Approach for LFC and AVR of an Autonomous Power Generating System
International Conference on Mechanical Engineering and Technology (ICMET-London 2011)
Fitting a Function and Its Derivative
Intelligent Engineering Systems Through Artificial Neural Networks, Volume 17