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.
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ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 15–18, 2010
Montreal, Quebec, Canada
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4410-6
PROCEEDINGS PAPER
Real-Time Vibration Suppression and Composite Adaptive Control of Coordinated Motion for Space Flexible Manipulator
Zhaobin Hong,
Zhaobin Hong
Fuzhou University, Fuzhou, Fujian, China
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Chen Li
Chen Li
Fuzhou University, Fuzhou, Fujian, China
Search for other works by this author on:
Zhaobin Hong
Fuzhou University, Fuzhou, Fujian, China
Chen Li
Fuzhou University, Fuzhou, Fujian, China
Paper No:
DETC2010-28378, pp. 1509-1514; 6 pages
Published Online:
March 8, 2011
Citation
Hong, Z, & Li, C. "Real-Time Vibration Suppression and Composite Adaptive Control of Coordinated Motion for Space Flexible Manipulator." Proceedings of the 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. pp. 1509-1514. ASME. https://doi.org/10.1115/DETC2010-28378
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