Fast terminal sliding mode fault-tolerant vibration-suppression control for the flexible space robot

被引：0

作者：

Lei R. ^{[1
]}

Fu X. ^{[2
]}

Chen L. ^{[3
]}

机构：

[1] School of Computer, Hunan University of Technology and Business, Changsha

[2] School of Aerospace Engineering, Tsinghua University, Beijing

[3] School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou

来源：

Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2023年 / 31卷 / 09期

关键词：

dual-power fast terminal sliding mode; fault-tolerant control; flexible space robot; vibration suppression; virtual control force;

D O I：

10.13695/j.cnki.12-1222/o3.2023.09.012

中图分类号：

学科分类号：

摘要：

The fast terminal sliding mode fault-tolerant vibration suppression controller of the flexible-base flexible-link space robot subjected to the actuator fault is designed. Combing the linear spring theory, Euler-Bernoulli beam theory with the assumed mode method, the dynamical model of the flexible-base flexible-link space robot is established by using the second Lagrange equation. A finite-time fault-tolerant controller is proposed for the system based on the dual-power non-singular fast terminal sliding mode, and the stability of the closed-loop tracking system is proven through Lyapunov function method. Then the hybrid trajectory is introduced to amend the finite-time fault-tolerant controller, and a dual-power non-singular fast terminal sliding mode finite-time fault-tolerant vibration-suppression controller on the base of the virtual control force is designed, which can achieve the fast convergences of the tracking errors of the base attitude and the manipulator joints and suppress the elastic vibrations of the flexible base and the flexible link. The simulation results show that compared with the calculated-torque vibration-suppression control algorithm which is lack of the fault-tolerant mechanism, the error convergence rate of the proposed algorithm has increased by 68.75% and the amplitude of the elastic base is reduced by 78%, which can be limited to 1.1×10-4 m. © 2023 Editorial Department of Journal of Chinese Inertial Technology. All rights reserved.

引用

页码：940 / 948

页数：8

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