AVSC CONTROL IN JOINT SPACE AND ACTIVE VIBRATION SUPPRESSION FOR FREE-FLOATING SPACE FLEXIBLE MANIPULATOR BASED ON HYBRID TRAJECTORY

The Augmented Variable Structure Control (AVSC) based on a hybrid trajectory in a joint space is proposed for the free-floating space flexible manipulator with a completely uncontrolled base. The AVSC law alone, which is designed to track the common desired trajectory of joint angles, does not guarantee the stability of the flexible mode dynamics of the flexible link. In order to actively suppress the flexible vibration, the hybrid trajectory for the AVSC are generated using a virtual control force concept, so that the hybrid control scheme for the free-floating space flexible manipulator can be designed. The simulation results confirm that the proposed hybrid control scheme can dominate the trajectory tracking of coordinated motion and actively suppress the vibration in the presence of parameter uncertainty.