It discusses the control problem of space-based flexible manipulator system with uncertain parameters to track desired trajectory in inertial space when the attitude of base is controlled and its location is uncontrolled. Combining the linear momentum conversation of system, the dynamic equations and the Jacobian relation were developed by using the Lagrange approach and assumed modes methods. A singular perturbation model of the space-based flexible manipulator system can be obtained based on the results and under the assumption of two-time scale, then the controller can be designed separately to track desired trajectory and to suppress vibration. The fast subsystem controller damps out the vibration of the flexible link using a optimal linear quadratic regulator(LQR) control method. For the slow subsystem, aiming at the space-based flexible manipulator system with uncertain parameters, a composite control scheme was designed on the base of a computed torque controller and a fuzzy compensator to track desired trajectories in inertial space. The numerical simulation shows that the proposed controller is feasible and effective.%讨论了载体位置不受控、姿态受控情况下,具有不确定参数的漂浮基柔性空间机械臂系统载体姿态与末端爪手惯性空间轨迹跟踪的模糊自适应补偿控制和柔性振动优化控制问题.利用拉格朗日方程和假设模态法并结合系统动量守恒关系,分析、建立了柔性空间机械臂系统的动力学方程及运动Jacobi关系.以此为基础,使用奇异摄动法和2种时间尺度的假设,将系统分解为轨迹跟踪控制器和振动控制器可分开设计的奇异摄动系统.对于快变子系统,使用全局最优线性二次调节器(LQR)控制方法来对柔性杆件的振动进行主动抑制.同时,针对系统参数不确定的情况,设计了一种标称计算力矩控制器附加模糊自适应补偿控制器的复合控制方案来保证慢变子系统载体姿态与末端爪手在惯性空间的轨迹跟踪.通过系统数值仿真证实了方法的有效性.
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