Analysis of Pseudo-Rate Incremental Feedback Control With Angular Velocity Feedback for Flexible Space Manipulator

Flexible space manipulator platform is a combination of rigid platform and flexible manipulator. Its complexity is mainly reflected in two aspects: one is the coupling between rigid platform and flexible manipulator; the other is the parameter uncertainty of the platform system dynamics, which is caused by the flexibility of manipulator. This paper first designs the pseudo-rate increment feedback controller with angular velocity feedback based on the coupling dynamic model, and then simulations were done to analyze the performance of the designed controller.