Dynamics and tracking control for a free-flying space robot with rigid-flexible links

Abstract

In this paper, both the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. The dynamic model of the system is described with assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of sliding mode control and active vibration control is derived to track the desired trajectory and to overcome the bounded disturbances. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulation results show the proposed control works well.