Singular perturbation adaptive control and vibration suppression of free-flying flexible space manipulators

Abstract

Singular perturbation adaptive control is designed for free-flying space manipulators with multiple flexible links and unknown physical parameters. The dynamical Lagrange equation was established based on assumed mode technique and linear momentum conservation theory. A singular perturbation model has been formulated and used for designing a reduced-order controller. This controller consisted of a slow control component and a fast control component. An adaptive control law was constructed for the slow counterpart of the flexible manipulator. The flexible-link fast subsystem controller would damp out the vibrations of flexible links by optimal linear quadratic regulator method. Numerical simulations by undertaking a computer simulation of a two-flexible-link space manipulator using the fourth-order Runge–Kutta integration method showed that the link vibrations had been stabilized effectively with good tracking performance.

Keywords

Free-flying flexible space manipulator dynamic modeling singular perturbation theory adaptive control vibration suppression

Get full access to this article

View all access options for this article.

References

Boumans

Heemskerk

. The European robotic arm for the International Space Station. Robot Autonom Syst 1998; 23(1): 17–27.

Garneau M. Space in the service of society: A Canadian case study. In: Proceedings of 2^nd international conference on recent advances in space technologies, Istanbul, Turkey, 2005, pp.1–6.

Nohmi M. Development of space tethered autonomous robotic satellite. In: Proceedings of 3^rd international conference on recent advances in space technologies, Istanbul, Turkey, 2007, pp.462–467.

Holcomb

Montemerlo

. NASA automation and robotics technology program. IEEE Aerosp Electron Syst Magaz 2009; 2(4): 19–26.

Yoshida

. Achievements in space robotics. IEEE Robot Autom 2009; 16(4): 20–28.

Walker

Wee

. Adaptive control of space-based robot manipulators. IEEE Trans Robot Autom 1991; 7(6): 828–835.

Chen L and Guo YS. Adaptive control of dual-arm space robot system in joint space. In: Proceedings of the 2006 IEEE/RSJ international conference on intelligent robots and systems, Beijing, P. R. China, 2006, pp.5096–5099.

Senda

Nagaoka

Murotsu

. Adaptive control of free-flying space robot with position/attitude control system. J Guid Control Dyn 1999; 22(3): 488–490.

Moosavian

SAA

Rastegari

Papadopoulos

. Multiple impedance control for space free-flying robots. J Guid Control Dyn 2005; 28(5): 939–947.

10.

Cocuzza

Pretto

Debei

. Least-squares-based reaction control of space. J Guid Control Dyn 2012; 35(3): 976–986.

11.

Wu LCH, Sun FCH, Sun ZQ, et al. Dynamic modeling, control and simulation of flexible dual-arm space robot. In: Proceedings of 2002 IEEE Region 10 conference on computers, communications, control and power, Beijing, China, 2002, pp.1282–1285.

12.

Senda

Murotsu

. Methodology for control of a space robot with flexible links. Control Theory Appl 2000; 47(6): 562–568.

13.

Carusone

Buchan

D’Eleuterio

GMT

. Experiments in end-effector tracking control for structurally flexible space manipulators. IEEE Trans Robot Autom 1993; 9(5): 553–560.

14.

Hong

ZHB

Chen

. Active vibration control and fuzzy control of free-floating space flexible manipulator based on singular perturbation theory. J Mech Eng 2010; 46(7): 35–41.

15.

Aghili F. Coordination control of a free-flying manipulator and its base attitude to capture and detumble a noncooperative satellite. In: Proceedings of the 2009 IEEE/RSJ international conference on intelligent robots, St. Louis, USA, 2009, pp.2365–2372.

16.

Rutkovsky V, Sukhanov V and Glumov V. Free-flying manipulation robot using for in-orbit assembly of large space structures. In: Proceedings of 5^th international conference on recent advances in space technologies, Istanbul, Turkey, 2011, pp.808–813.

17.

De Luca

Siciliano

. Closed-form dynamic model of planar multilink lightweight robots. IEEE Trans Syst Man Cybern 1991; 21(4): 826–839. doi: 10.1109/21.108300.

18.

Siciliano

Sciavicco

Villani

. Modelling, planning and control, New York: Springer, 2009.

19.

Slotine

JJE

. On the adaptive control of robot manipulators. J Robot Res 1987; 6(3): 49–59.

20.

Arteaga

Kelly

. Robot control without velocity measurements: New theory and experimental results. IEEE Trans Robot Autom 2004; 20(2): 297–308.