Gradient Descent Self-tuning Control of Flexible Space Manipulator After Capturing Operation

Authors

Cheng Jing, 1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China; ;2. Fujian Provincial Collaborative Innovation Center of High-End Equipment Manufacturing, Fuzhou 350116, China;
Chen Li, 1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China; ;2. Fujian Provincial Collaborative Innovation Center of High-End Equipment Manufacturing, Fuzhou 350116, China;

Abstract

Abstract: The flexible vibration is generated after all-flexible space manipulator capturing a satellite, and the collision leads to unsteadiness of system. For the unstable composite system, the self-turning control algorithm based on hybrid trajectory is designed in this paper. The theory of gradient descent is used for parameter adaptive rate design to realize the real time adjustment of the PID control parameters. A supervised controller is designed through Lyapunov function to generate the stability and H_∞ tracking characteristic of the system. The hybrid trajectory is generated based on the concept of virtual force, which is used to accomplish integrated control of joint movement and vibration abatement. At last, the effectiveness of the proposed control scheme is demonstrated through numerical simulation.

Recommended Citation

Jing, Cheng and Li, Chen (2019) "Gradient Descent Self-tuning Control of Flexible Space Manipulator After Capturing Operation," Journal of System Simulation: Vol. 30: Iss. 5, Article 32.
DOI: 10.16182/j.issn1004731x.joss.201805032
Available at: https://dc-china-simulation.researchcommons.org/journal/vol30/iss5/32

First Page

1869

Revised Date

2016-08-30

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201805032

Last Page

1876

CLC

TP241

Recommended Citation

Cheng Jing, Chen Li. Gradient Descent Self-tuning Control of Flexible Space Manipulator After Capturing Operation[J]. Journal of System Simulation, 2018, 30(5): 1869-1876.

DOI

10.16182/j.issn1004731x.joss.201805032