LPV Model-based Gain-scheduled Control of a Space Manipulator

In this paper, the linear parameter varying (LPV) gain-scheduled control method is applied to a two-link space manipulator (SM). The dynamic model of the SM is first derived by taking advantage of the dynamically equivalent manipulator (DEM) approach to simplify calculations and eliminate some undesirable nonlinear terms existing in the Lagrange dynamical model. Then by setting and sampling the typical scheduling parameter trajectories, an order-reducing LPV model using parameter set mapping (PSM) algorithm is obtained. The orderreducing model achieves a good trade-off between the complexity and accuracy of the LPV model, and thus diminishes the conservatism when designing the LPV model-based controller. The SM under the control of newly designed gain-scheduled controller shows reasonable end-effector tracking errors and good disturbance attenuation ability. Finally, simulations are carried out to verify the effectiveness of the proposed approach.