ROBUST CONTROL AND ACTIVE VIBRATION CONTROL OF SPACE FLEXIBLE MANIPULATOR BY SINGULAR PERTURBATION APPROACH

The robust control and active vibration suppression of a free-floating space flexible manipulator with an attitude-controlled base are studied. Combined the momentum conservation of the system, the dynamic equations are developed by using the Lagrangian method and assumed mode method. It is verified that the dynamic equations can be linearly dependent on a group of inertial parameters. Based on the results and under the assumption of two-time scale, a singular perturbation model of the space flexible manipulator system is obtained, then the controller can be designed separately to track desired trajectory and to suppress vibration. The fast subsystem controller will damp out the vibration of the flexible link using an optimal Linear Quadratic Regulator (LQR) method. The slow subsystem robust controller dominates the trajectory tracking of coordinated motion with uncertain system parameters. The numerical simulation is carried out, which confirms that the proposed controller is feasible and effective.