Abstract In this paper, active control of a 6-DOF space robot with flexible panels using singular perturbation method is investigated. Dynamic model of the system is established by using the Jourdain’s velocity variation principle. Dynamic equation of the system is decomposed into a slow subsystem and a fast subsystem by using the singular perturbation method. A composite controller is used to make the space robot reach a specified position and suppress the elastic vibration of the panels. Simulation results indicate that the proposed model is effective to describe the dynamics of space robot; the designed composite controller can effectively make the robot reach a specified position and the elastic vibration of the panels may be suppressed simultaneously; the fast controller has a great influence on the control effect of the space robot system.


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    Titel :

    Active Control of a 6-DOF Space Robot with Flexible Panels Using Singular Perturbation Method


    Beteiligte:
    Yu, Zhang-Wei (Autor:in) / Gao, Ming-Zhou (Autor:in) / Cai, Guo-Ping (Autor:in)


    Erscheinungsdatum :

    2019




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch



    Klassifikation :

    BKL:    55.60 Raumfahrttechnik
    Lokalklassifikation TIB:    770/7040



    Active Control of a 6-DOF Space Robot with Flexible Panels Using Singular Perturbation Method

    Yu, Zhang-Wei / Gao, Ming-Zhou / Cai, Guo-Ping | Springer Verlag | 2019




    Dynamics and control of a 6-DOF space robot with flexible panels

    Zhang-Wei, Yu / Xiao-Feng, Liu / Hai-Quan, Li et al. | SAGE Publications | 2017


    Sliding mode control of semi-active suspension using singular perturbation method

    Park,H.S. / Park,Y.P. / Kim,I.J. et al. | Kraftfahrwesen | 2000