Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite
During the process of satellite capture by a flexible base–link–joint space robot, the base, joints, and links vibrate easily and also rotate in a disorderly manner owing to the impact torque. To address this problem, a repetitive learning sliding mode stabilization control is proposed to stabilize...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-08-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/11/17/8077 |
| _version_ | 1797521638788431872 |
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| author | Xiaodong Fu Haiping Ai Li Chen |
| author_facet | Xiaodong Fu Haiping Ai Li Chen |
| author_sort | Xiaodong Fu |
| collection | DOAJ |
| description | During the process of satellite capture by a flexible base–link–joint space robot, the base, joints, and links vibrate easily and also rotate in a disorderly manner owing to the impact torque. To address this problem, a repetitive learning sliding mode stabilization control is proposed to stabilize the system. First, the dynamic models of the fully flexible space robot and the captured satellite are established, respectively, and the impact effect is calculated according to the motion and force transfer relationships. Based on this, a dynamic model of the system after capturing is established. Subsequently, the system is decomposed into slow and fast subsystems using the singular perturbation theory. To ensure that the base attitude and the joints of the slow subsystem reach the desired trajectories, link vibrations are suppressed simultaneously, and a repetitive learning sliding mode controller based on the concept of the virtual force is designed. Moreover, a multilinear optimal controller is proposed for the fast subsystem to suppress the vibration of the base and joints. Two sub-controllers constitute the repetitive learning sliding mode stabilization control for the system. This ensures that the base attitude and joints of the system reach the desired trajectories in a limited time after capturing, obtain better control quality, and suppress the multiple flexible vibrations of the base, links and joints. Finally, the simulation results verify the effectiveness of the designed control strategy. |
| first_indexed | 2024-03-10T08:15:23Z |
| format | Article |
| id | doaj.art-26175c337a1d4338b4b8ca7241612c83 |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-10T08:15:23Z |
| publishDate | 2021-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-26175c337a1d4338b4b8ca7241612c832023-11-22T10:21:08ZengMDPI AGApplied Sciences2076-34172021-08-011117807710.3390/app11178077Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a SatelliteXiaodong Fu0Haiping Ai1Li Chen2School of Energy and Mechanical Engineering, Jiangxi University of Science and Technology, Nanchang 330013, ChinaSchool of Energy and Mechanical Engineering, Jiangxi University of Science and Technology, Nanchang 330013, ChinaSchool of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108, ChinaDuring the process of satellite capture by a flexible base–link–joint space robot, the base, joints, and links vibrate easily and also rotate in a disorderly manner owing to the impact torque. To address this problem, a repetitive learning sliding mode stabilization control is proposed to stabilize the system. First, the dynamic models of the fully flexible space robot and the captured satellite are established, respectively, and the impact effect is calculated according to the motion and force transfer relationships. Based on this, a dynamic model of the system after capturing is established. Subsequently, the system is decomposed into slow and fast subsystems using the singular perturbation theory. To ensure that the base attitude and the joints of the slow subsystem reach the desired trajectories, link vibrations are suppressed simultaneously, and a repetitive learning sliding mode controller based on the concept of the virtual force is designed. Moreover, a multilinear optimal controller is proposed for the fast subsystem to suppress the vibration of the base and joints. Two sub-controllers constitute the repetitive learning sliding mode stabilization control for the system. This ensures that the base attitude and joints of the system reach the desired trajectories in a limited time after capturing, obtain better control quality, and suppress the multiple flexible vibrations of the base, links and joints. Finally, the simulation results verify the effectiveness of the designed control strategy.https://www.mdpi.com/2076-3417/11/17/8077flexible-baseflexible-linkflexible-jointspace robotcapturing satellitesingular perturbation theory |
| spellingShingle | Xiaodong Fu Haiping Ai Li Chen Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite Applied Sciences flexible-base flexible-link flexible-joint space robot capturing satellite singular perturbation theory |
| title | Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite |
| title_full | Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite |
| title_fullStr | Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite |
| title_full_unstemmed | Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite |
| title_short | Repetitive Learning Sliding Mode Stabilization Control for a Flexible-Base, Flexible-Link and Flexible-Joint Space Robot Capturing a Satellite |
| title_sort | repetitive learning sliding mode stabilization control for a flexible base flexible link and flexible joint space robot capturing a satellite |
| topic | flexible-base flexible-link flexible-joint space robot capturing satellite singular perturbation theory |
| url | https://www.mdpi.com/2076-3417/11/17/8077 |
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