关键词: 鲁棒自适应控制, 漂浮基柔性空间机械臂, 外部扰动, 协调运动

Abstract: The coordinated control and vibration suppression problems of free-floating flexible space manipulator system with external disturbances and uncertain or unknown parameters are discussed. The flexible links are approximated based on the assumed mode method, and then with the second Lagrange approach and the linear momentum conservation, the dynamic equations of free-floating flexible space manipulator system are derived. Nonlinear robust control and nonlinear robust adaptive control schemes are proposed for coordinated motion of the free-floating flexible space manipulator system. These control schemes can all overcome the effect of external disturbances on the free-floating flexible space manipulator system and control the base attitude and the joints to complete the desired coordinated motion, while suppressing flexible vibration of the links efficiently. In addition, the nonlinear robust adaptive control scheme can also solve the uncertain or unknown problem of system inertial parameters. Numerical simulation is carried out to verify the validity and feasibility of the proposed control schemes.

Key words: Coordinated motion, External disturbances, Free-floating flexible space manipulator, Robust adaptive contr