The Robust NN Control and Fast Vibration Suppression of Space Flexible Manipulator with Unknown Parameters

Abstract:

To solve the problem of space flexible manipulator to track the desired trajectory, the robust control is proposed using a NN function to approach the comprehensive modeling errors. The adaptive feedback control for vibration suppression is designed of the system with unknown parameters. The adaptive laws are obtained by Lyapunov method without any prior knowledge about the bounds of unknown parameters. Finally, the numerical simulation is carried out, which proves the controller proposed is feasible and effective.

• Periodical: Advanced Materials Research (Volumes 912-914)
• Pages: 1027-1031
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.912-914.1027
• Online since: April 2014
• Authors: Zhao Bin Hong*, Wen Wang Li, Shui Xuan Chen
• Keywords: Adaptive Control, Robust NN Control, Space Flexible Manipulator, Unknown Parameters, Vibration Suppression

References

[1] Lindsay Evans. Canadian space robotics on board the international space station [C] / 2005 CCToMM Symposium on Mechanisms, Machines, and Mechatronics, Canadian Space Agency, Montreal, Canada. May 26-27, (2005).

[2] Liang Bin, Du Xiaodong, Li Cheng, et al. Advances in Space Robot On-orbit Servicing for Non-cooperative Spacecraft[J]. ROBOT. 2012, 34(2): 242-256.

DOI: 10.3724/sp.j.1218.2012.00242

[3] Ge Xinsheng, Sun Pengwei. Nonholonmic motion planning of space manipulator system using particle swarm optimization[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING. 2007, 43(4): 34-38.

DOI: 10.3901/jme.2007.04.034

[4] Panfeng Huang, Jie Yan, Jianping Yuan, et al. Robust Control of Space Robot for Capturing Objects Using Optimal Control Method [C] / Proceedings of the 2007 International Conference on Information Acquisition, July 9-11, 2007, Jeju City, Korea.

DOI: 10.1109/icia.2007.4295766

[5] Noureddine Golea, Amar Golea, Kamel Barra, et. al. Observer-based adaptive control of robot manipulators: Fuzzy systems approach [J]. Applied Soft Computing, 2008(8): 778-787.

DOI: 10.1016/j.asoc.2007.05.011

[6] Wang Congqing, Zhang Chenglong. Dynamic control of a free-floating flexible dual-arm space robotic system[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2007, 43(10): 196-200.

DOI: 10.3901/jme.2007.10.196

[7] HU Tingliang, ZHU Jihong, SUN Zengqi. Robust adaptive neural control of a class of MIMO nonlinear systems. Tsinghua Science and Technology. February 2007, 12(1): 14-21.

DOI: 10.1109/smcia.2005.1466964

[8] Zhang Dingguo, Wu Shengbao, Kang Xin. Rigid-flexible coupling dynamic analysis of a micro beam considering size effect[J]. CHINESE JOURNAL OF SOLID MECHANICS. 2010. 2, 31(1): 32-39.

[9] J. Lin, Z.Z. Huang, P.H. Huang. An active damping control of robot manipulators with oscillatory bases by singular perturbation approach [J]. Journal of Sound and Vibration. 2007(304): 345-360.

DOI: 10.1016/j.jsv.2007.03.008

[10] HONG Zhaobin CHEN Li. Active Vibration Control and Fuzzy Control of Free-floating Space Flexible Manipulator based on Singular Perturbation Theory[J]. CHINESE JOURNAL OF MECHANICAL ENGINEERING, 2010, 46(7): 35-41.

DOI: 10.3901/jme.2010.07.035