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

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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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Acknowledgments

This work is supported by the Natural Science Foundation of China [grant numbers 11272202 and 11472171] and the Natural Science Foundation of Shanghai [grant numbers 14ZR1421000 and 16ZR1436200].

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Authors and Affiliations

  1. Department of Engineering Mechanics, State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Zhang-Wei Yu, Ming-Zhou Gao & Guo-Ping Cai

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  1. Zhang-Wei Yu
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  2. Ming-Zhou Gao
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  3. Guo-Ping Cai
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Correspondence to Guo-Ping Cai.

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Yu, ZW., Gao, MZ. & Cai, GP. Active Control of a 6-DOF Space Robot with Flexible Panels Using Singular Perturbation Method. J of Astronaut Sci 66, 83–99 (2019). https://doi.org/10.1007/s40295-019-00166-3

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