ROBUST CONTROL OF A SPACE MANIPULATOR SYSTEM WITH ELASTIC JOINTS

摘要

This paper is concerned with modeling and control of a space manipulator system with joint elasticity. A space manipulator is mounted on a free-flying base spacecraft. Two dimensional, in-plane motion of the space manipulator system is investigated. The equations of motion are derived by means of Lagrange's equation, including the joint elasticity with small deformation. A PD feedback controller is proposed for both manipulator and spacecraft control. The robustness is assured by the asymptotic stability, defining a Lyapunov function. A practical control system design approach is also presented. Dynamical simulations as numerical examples demonstrate the validity of our approach and analysis.