• 智能制造 •

### 漂浮基柔性空间机械臂的模糊H∞鲁棒控制及柔性振动最优控制

1. 福州大学,福州,350108
• 出版日期:2016-09-25 发布日期:2016-09-22
• 基金资助:
国家自然科学基金资助项目（11372073，11072061）；福建省工业机器人基础部件技术重大研发平台（2014H21010011）

### Fuzzy Robust H∞ Control and Flexible Vibration Optimal Control for Free-floating Flexible Space Manipulator

Zhang Lijiao;Chen Li

1. Fuzhou University,Fuzhou,350108
• Online:2016-09-25 Published:2016-09-22
• Supported by:

Abstract: The trajectory tracking and vibration suppression control for free-floating flexible space manipulator with disturbance were discussed. With the momentum conservation relations, system dynamics model was set up by the Lagrange method. Using the two-time scale decomposition of singular perturbation method, and the system was decomposed into a slow subsystem which was described joint trajectory tracking and a fast subsystem which was described the vibration of flexible manipulator. Then a composite controller consisting of a slow control component and a fast control component was proposed. For the slow subsystem, adaptive fuzzy H∞ control algorithm was designed, the fuzzy logic system was used to approximate the system uncertainty, and a robust H∞ control was used to overcome the fuzzy approximation errors and eliminate the influences of the external disturbance on the output tracking errors. For the fast subsystem, optimal linear quadratic regulator(LQR) was designed to damp out the vibration of the flexible links. Based on Lyapunov stability theory, it is proved that this algorithm can ensure the control system is asymptotically stable. Numerical simulation results illustrate that the proposed controller is reliable and effective, this control scheme makes the tracking errors of the system and the flexible vibrations quickly convergence.