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Control and modeling of chaotic dynamics for a free-floating rigid-flexible coupling space manipulator based on minimal joint torque's optimization

Wang Cong-Qing Wu Peng-Fei Zhou Xin

Control and modeling of chaotic dynamics for a free-floating rigid-flexible coupling space manipulator based on minimal joint torque's optimization

Wang Cong-Qing, Wu Peng-Fei, Zhou Xin
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Publishing process
  • Received Date:  06 May 2012
  • Accepted Date:  21 June 2012
  • Published Online:  05 December 2012

Control and modeling of chaotic dynamics for a free-floating rigid-flexible coupling space manipulator based on minimal joint torque's optimization

  • 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China;
  • 2. State Key Laboratory for Manufacturing Systems Engineering , Xi’an Jiaotong University, Xi’an 710049, China
Fund Project:  Project supported by Jiangsu Scientific Support Program, China (Grant No. BE2010190), the Foundation of Manufacturing Systems Engineering State Key Laboratory, Xi'an Jiaotong University of China (Grant No. 201002).

Abstract: The dynamic model of a planar free-floating rigid-flexible redundant space manipulator with tree joints is derived by the assumed mode method, Lagrange principle and momentum conservation. Based on minimal joint torque optimization, the state equations of chaos motion for the free-floating redundant space manipulator are built. Then chaotic numerical method is used to analyze chaotic dynamic characteristics of the model. The robust Proportional-Derivative(PD) compensatory control, the delayed feedback control and the optimal control are designed in work space, joint space and mode space respectively. The composite control can assure the trajectory tracking, chaotic suppression and vibration control. The experimental results show the effectiveness of the presented methods.

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