Active Control of Space Flexible-Joint/Flexible-Link Manipulator

In this paper, active control of space manipulator with flexible-link and flexible-joint was investigated based on the singular perturbation method. Owing to the combined effects of the link and joint flexibilities, the dynamics model of this type of manipulator became more complex and led to a series of unsolved control system. To simplify the design of control system, singular perturbation method was exploited to obtain the two-time-scale simpler subsystem and composite control methods were designed to realize precise trajectory tracking and vibration suppression simultaneously of one-link and one-joint flexible manipulator with payload. In the slow subsystem, a fuzzy sliding-mode controller was designed to decrease the influences of external disturbance and parameters uncertainties, the system stability and asymptotic trajectory tracking performance were guaranteed by Lyapunov function; while a linear-quadratic controller was designed to suppress the vibration in the fast subsystem. The performances of proposed controller were demonstrated by the simulation results.

[1]  Y. Istefanopulos,et al.  OPTIMAL NONLINEAR CONTROLLER DESIGN FOR FLEXIBLE ROBOT MANIPULATORS WITH ADAPTIVE INTERNAL MODEL , 2007 .

[2]  Alan S. Morris,et al.  Singular perturbation approach to trajectory tracking of flexible robot with joint elasticity , 2003, Int. J. Syst. Sci..

[3]  Z. Dingguo,et al.  DYNAMIC ANALYSIS OF FLEXIBLE-LINK AND FLEXIBLE-JOINT ROBOTS , 2006 .

[4]  A. Patel,et al.  Robust Control of Flexible Joint Robot Manipulator , 2006, 2006 IEEE International Conference on Industrial Technology.

[5]  Alan S. Morris,et al.  On the singular perturbation approach to trajectory control of a multilink manipulator with flexible links and joints , 2001 .

[6]  Xue Yang,et al.  Study on fuzzy PD control of planar two-link flexible manipulator , 2002, 2002 IEEE Region 10 Conference on Computers, Communications, Control and Power Engineering. TENCOM '02. Proceedings..

[7]  I.A. Mahmood,et al.  Vibration and Position Control of a Flexible Manipulator , 2007, 2007 Information, Decision and Control.

[8]  Kazuya Yoshida,et al.  An adaptive control of a space manipulator for vibration suppression , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[9]  Withit Chatlatanagulchai,et al.  Motion control of two-link flexible-joint robot with actuator nonlinearities, using backstepping and neural networks , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[10]  Youan Zhang,et al.  Adaptive sliding mode control for one-link flexible manipulators with H/spl infin/ tracking performance , 2004, Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788).

[11]  David G. Wilson,et al.  Robust control design for flexible-link/flexible-joint robots , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  Yuanchun Li,et al.  Robust Control of Cooperating Flexible Manipulators Based on Distributed Parameter Model , 2006, 2006 6th World Congress on Intelligent Control and Automation.

[13]  Zongyuan Mao,et al.  Fuzzy neuro controller for a two-link rigid-flexible manipulator system , 2002, Proceedings of the 9th International Conference on Neural Information Processing, 2002. ICONIP '02..

[14]  Aditya Patel,et al.  Robust Control ofFlexible Joint RobotManipulator , 2006 .