Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach

摘要

In this paper, the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. To provide an accurate representation of the flexible space robot's behavior, the dynamics of the system are described by means of assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of backstepping control and active vibration control is derived to track the desired trajectory. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulations are carried out and satisfactory results are provided to illustrate the effectiveness of the proposed control.