Composite Sliding Mode Control for a Free-Floating Space Rigid-Flexible Coupling Manipulator System

International Journal of Advanced Robotic Systems

关键词: Space Rigid-flexible Coupling Manipulator;    Non-Singular Terminal Sliding Mode Control;    Active Vibration Control;    Trajectory Tracking;   

DOI  :  10.5772/54640

学科分类：自动化工程

来源: InTech

【 摘 要 】

The flexible space manipulator is a highly nonlinear and coupled dynamic system. This paper proposes a novel composite sliding mode control to deal with the vibration suppression and trajectory tracking of a free-floating space rigid-flexible coupling manipulator with a rigid payload. First, the dynamic equations of this system are established by using Lagrange and assumed mode methods and in the meantime this dynamic modelling allows consideration of the modelling errors, the external disturbance and the vibration damping of a flexible link. Then, in modal space, the problems of the manipulator system's trajectory tracking and the vibration suppression are discussed by using the composite control approach, which combines a non-singular terminal sliding mode control (NTSMC) with an active vibration suppression control (AVSC). The NTSMC uses a fuzzy logic output instead of the symbol item, which smoothes the control signal, thereby inhibiting the chattering of the sliding mode control. Compared with common...

【 授权许可】

CC BY