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Hybrid-Trajectory Based Terminal Sliding Mode Control of a Flexible Space Manipulator with an Elastic Base

Published online by Cambridge University Press:  25 June 2019

Xiaoyan Yu
Xiaoyan Yu*
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350116 Fujian Province, China Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control(Fuzhou University), Fujian Province University, Fuzhou, 350116 Fujian Province, China
*
*Corresponding author. E-mail: [email protected]
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Summary

A hybrid-trajectory based terminal sliding mode controller (TSMC) is addressed for a free-flying two-flexible-link space manipulator with an elastic base. In this system, there are unknown but bounded external disturbances and parameters. First, the Lagrange dynamic model of the manipulator was established by the momentum conservation. Second, a TSMC based on desired trajectory was proposed, by which the terminal trajectories were asymptotically tracked and periodic flexible vibrations were excited. Then based on virtual control force, hybrid trajectories were generated, in which the flexible variables, the joint angular displacement errors and the base’s attitude error were considered. Finally, a hybrid-trajectory TSMC was presented, by which the terminal trajectories were asymptotically tracked and the flexible vibrations were suppressed.

Keywords

Flexible space manipulatorElastic baseTerminal sliding mode controlVirtual control forceHybrid trajectoryFlexible vibration suppression
Type
Articles
Information
Robotica , Volume 38 , Issue 3 , March 2020 , pp. 550 - 563
Copyright
© Cambridge University Press 2019 

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