L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot

Authors

Lijiao Zhang, 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 and the double flexible vibration active suppression control for free-floating space robot with flexible-joints and flexible-link were proposed. The dynamic equation of the system was established according to system’s momentum conservation and Lagrange method. A singular perturbation model was established by integral manifold method, and the system was decomposed into a fast subsystem of flexible-joint which used the speed difference between the feedbacks of control law to suppress the elastic vibration of flexible-joints, a fast subsystemof flexible-link which designed optimal linear quadratic regulator (LQR) to damp out the vibration of the flexible manipulator and a slow subsystemwhich designed a robust controller to make the external disturbances have the performance of the L₂-gain of the system, that avoids to directly solve the HJI (Inequality Hamilton-Jacobi) inequality of large calculation. Numerical simulation results show that the proposed control algorithm is effective.

Recommended Citation

Zhang, Lijiao and Li, Chen (2019) "L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot," Journal of System Simulation: Vol. 30: Iss. 4, Article 29.
DOI: 10.16182/j.issn1004731x.joss.201804029
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss4/29

First Page

1448

Revised Date

2016-07-22

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201804029

Last Page

1455

CLC

TP241

Recommended Citation

ZhangLijiao, Chen Li. L₂-gain Robust Control for Flexible Joints and Flexible Link Space Robot[J]. Journal of System Simulation, 2018, 30(4): 1448-1455.

DOI

10.16182/j.issn1004731x.joss.201804029