关键词: 漂浮基柔性空间机械臂　对角递归神经网络　未知参数　外部扰动　关节空间

Abstract: The dynamic control problem for free-floating space flexible manipulator with unknown parameters and external disturbance in joint space is discussed. With the assumed modes method, the Lagrangian principle is utilized to model the dynamic function of the space flexible manipulator with completely uncontrolled base. Based on above, a diagonal recurrent neural network is used to approximate the inverse dynamic of space flexible manipulator. A control scheme based on diagonal recurrent neural network is designed to dominate the trajectory tracking of joint motion and damp out the vibration of the flexible link. The control scheme does not specially design active controller for flexible vibration suppression, so requires no measurement and feedback of flexible vibration mode, which greatly simplifies the controller structure. Furthermore, the control scheme not only requires no a priori knowledge about the accurate model and system parameters, but also can overcome the affect of external disturbance. A numerical simulation is carried out to illustrate the validity and feasibility of the proposed control scheme.

Key words: Diagonal recurrent neural network, External disturbance, Free-floating space flexible manipulator, Joint space, Unknown parameters