Time-delay estimation tracking control of flexible-joint space robot based on low-pass filter

被引：0
|
作者：
Xu, Hezhen [1 ]
Yu, Xiaoyan [1 ,2 ]
Zhang, Yuhan [1 ]
Chen, Li [1 ]
机构：
[1] School of Machine Engineer and Automation, Fuzhou University, Fuzhou
[2] Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control, Fuzhou University, Fuzhou
来源：
Guofang Keji Daxue Xuebao/Journal of National University of Defense Technology | 2024年 / 46卷 / 04期
关键词：
flexible-joint space robot; joint flexibility compensation; low-pass filter; sliding mode variable structure control; time-delay estimation;
D O I：
10.11887/j.cn.202404015
中图分类号：
学科分类号：
摘要：
In order to solve the joint tracking control and vibration problem of flexible-joint space robot system in the pre-grasping stage when the position and pose are not controlled, the dynamic equations of a free-floating three-bar flexible-joint space robot system are established using the Lagrangian equation in conjunction with the principle of momentum conservation. In order to improve the equivalent stiffness of flexible-joint, a joint flexible compensation method was introduced. The flexible-joint space robot system was divided into slow and fast systems by singular perturbation theory. On this basis, a sliding mode control method with time delay estimation as the main framework was designed for the slow variable systems, while combining it with a low-pass filter to eliminate the system chattering problem caused by sliding mode control. A linear velocity difference feedback control system was designed for the fast-changing system to suppress the flexible vibration problems introduced by the flexible joints. Simulation verification demonstrates that the space robotic arm is capable of quickly and steadily tracking the desired trajectory within a limited time, confirming that the control scheme possesses good robustness and reliability. © 2024 National University of Defense Technology. All rights reserved.
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页码：142 / 149
页数：7
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