Abstract: The active vibration control and fuzzy control of free-floating flexible space manipulator with an attitude-controlled base are discussed. Associating the momentum conservation, the dynamic equations of the system are developed by using the Lagrange-assumed mode method. Based on the results and under the assumption of two kinds of time scale, singular perturbation model of the space flexible manipulator system is obtained. The fast-subsystem controller will damp down the vibration of the flexible link by using a PD controller. Hence, the slow-subsystem fuzzy logic controller dominates the trajectory tracking. In particular, it doesn’t require measuring the position, velocity nor acceleration of the base because of an effective exploitation of the particular property of the system dynamics. The numerical simulation is carried out, which confirms the effectiveness of the designed controller.

Key words: Active vibration control, Free-floating space flexible manipulator, Fuzzy control, Joint space