Trajectory Tracking and Adaptive Fuzzy Vibration Control of Multilink Space Manipulators with Experimental Validation

Trajectory Tracking and Adaptive Fuzzy Vibration Control of Multilink Space Manipulators with Experimental Validation

This paper investigates the problem of modeling and controlling a space manipulator system with flexible joints and links. The dynamic model of the flexible manipulator system is derived by using the Lagrange equation and the floating frame of reference formulation, where the assumed mode method is...

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Bibliographic Details
Main Authors: Chenlu Feng, Weidong Chen, Minqiang Shao, Shihao Ni
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Actuators
Subjects:
flexible space manipulator
flexible joint
singular perturbation theory
underactuated computed torque controller
adaptive fuzzy controller
Online Access:https://www.mdpi.com/2076-0825/12/4/138

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