Recurrent CMACNN Control for Space Robot with Fully Flexible Arms and Elastic Base

Authors

Xiaoqin Huang, 1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China; ;2. Collaborative Innovation Center of High End Equipment Manufacturing, Fuzhou 350116, China;
Chen Li, 1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China; ;2. Collaborative Innovation Center of High End Equipment Manufacturing, Fuzhou 350116, China;

Abstract

Abstract: The trajectory tracking of elastic base and double flexible arms for a free-floating space robot system with fully flexible arms and elastic base is discussed. The elastic connection between the base and the arm is considered as a linear spring and dynamics model of the system which is regarded as a two- time scale system is derived. For the slow-varying subsystem, the recursive CMAC neural network (CMACNN) which has good dynamic characteristics is used to approximate uncertainties of dynamical equation and a recursive CMAC neural network control scheme which improves the tracking performance is designed to improve the tracking trajectory of rigid motion. For the fast-varying subsystem, an optimal linear quadratic regulator controller is adopted to damp out the vibration of the two flexible links and base elastic. Simulation results verify the effectiveness of the compound control method.

Recommended Citation

Huang, Xiaoqin and Li, Chen (2019) "Recurrent CMACNN Control for Space Robot with Fully Flexible Arms and Elastic Base," Journal of System Simulation: Vol. 31: Iss. 9, Article 20.
DOI: 10.16182/j.issn1004731x.joss.17-0393
Available at: https://dc-china-simulation.researchcommons.org/journal/vol31/iss9/20

First Page

1899

Revised Date

2018-01-16

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.17-0393

Last Page

1906

CLC

TP241

Recommended Citation

Huang Xiaoqin, Chen Li. Recurrent CMACNN Control for Space Robot with Fully Flexible Arms and Elastic Base[J]. Journal of System Simulation, 2019, 31(9): 1899-1906.

DOI

10.16182/j.issn1004731x.joss.17-0393