Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration

Authors

Xiaoqin Huang, 1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;;
Chen Li, 1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, China;;

Abstract

Abstract: The angle tracking and flexible vibration suppression integrated control for the two flexible links free-floating space robot with joint torque output dead-zone and external disturbance are discussed. The hybrid trajectory concept with rigid motion and flexible mode is introduced, and an adaptive control scheme of the integral sliding mode neural network based on the integration of motion and vibration is proposed. In case the slope and boundary of dead-zone is uncertain and the upper kind of the optimal approximation error is unknown, the compensation term of the scheme can eliminate the effect, and ensures the robustness of the rigid motion. Also, the scheme suppresses the vibration of the two links flexible actively to improve the tracking performance. Simulation results show that the scheme can achieve the integration control of the motion and vibration effectively.

Recommended Citation

Huang, Xiaoqin and Li, Chen (2020) "Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration," Journal of System Simulation: Vol. 32: Iss. 3, Article 10.
DOI: 10.16182/j.issn1004731x.joss.18-0198
Available at: https://dc-china-simulation.researchcommons.org/journal/vol32/iss3/10

First Page

430

Revised Date

2018-10-29

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.18-0198

Last Page

437

CLC

TP241

Recommended Citation

Huang Xiaoqin, Chen Li. Anti-dead-zone Control for Two Flexible Links Space Robot with Integration of Motion and Vibration[J]. Journal of System Simulation, 2020, 32(3): 430-437.

Corresponding Author

Xiaoqin Huang,

DOI

10.16182/j.issn1004731x.joss.18-0198