Trajectory Tracking and Adaptive Fuzzy Vibration Control of Multilink Space Manipulators with Experimental Validation

This paper investigates the problem of modeling and controlling a space manipulator system with flexible joints links. The dynamic model is derived by using Lagrange equation floating frame reference formulation, where assumed mode method adopted to discretize links, while are regarded as linear torsion springs. natural characteristics single link manipulator, under three different boundary conditions, compared reveal effect flexibility on choose suitable modes. Furthermore, singular perturbation theory introduced decompose into slow subsystem that describes rigid-body motion, fast elastic vibration. Since underactuated, compound control strategy, which consists underactuated computed torque controller adaptive fuzzy controller, presented improve accuracy trajectory tracking suppress vibration in meantime. Both numerical simulation experimentation performed verify effectiveness proposed comparison proportional-derivative (PD) provided highlight its superiority suppressing residual tip.