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Research on Angle and Stiffness Cooperative Tracking Control of VSJ of Space Manipulator Based on LESO and NSFAR Control

Space Engineering University, No.1 Bayi Road, Beijing 101416, China
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Electronics 2019, 8(8), 893; https://doi.org/10.3390/electronics8080893
Received: 17 July 2019 / Revised: 9 August 2019 / Accepted: 9 August 2019 / Published: 13 August 2019
(This article belongs to the Section Systems & Control Engineering)
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Abstract

With the increase in on-orbit maintenance and support requirements, the application of space manipulator is becoming more promising. However, how to control the vibration generated by the space manipulator has been a difficult problem to be solved. The advent of variable stiffness joint (VSJ) has brought about a dawn in solving this problem. But how to achieve coordinated control of joint angle and stiffness is still a problem to be solved, especially when considering system model parameter uncertainty, unknown disturbance and control input saturation. In order to realize the controllable attenuation of the vibration of the space flexible manipulator based on the variable stiffness joint, the dynamic model of the variable stiffness joint was constructed. Then the linear transformation and feedback linearization method are used to transform its complex nonlinear dynamic model system into a pseudo-linear system containing aggregate disturbance and input saturation constraints. This paper constructs a linear extended state observer (LESO) for estimating the state of unknown systems in pseudo-linear systems. Based on the idea of state feedback control, a Neural State Feedback Adaptive Robust (NSFAR) control is constructed by using Radial Basis Function Neural Network. The adaptive input saturation compensation control law is also designed by using Radial Basis Function Neural Network to deal with the input saturation compensation problem. The ultimate uniform bounded stability of the constructed system is proved by the stability analysis based on Lyapunov function. Finally, the effectiveness and superiority of the constructed tracking algorithm are verified by compared simulation and semi-physical experiment.
Keywords: space manipulator; variable stiffness joint; feedback linearization; cooperative control algorithms for joint angle and stiffness; input saturation compensation; linear extended state observer; RBF Neural Network; state feedback control space manipulator; variable stiffness joint; feedback linearization; cooperative control algorithms for joint angle and stiffness; input saturation compensation; linear extended state observer; RBF Neural Network; state feedback control
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Ye, X.; Hong, J.-C.; Dong, Z.-H. Research on Angle and Stiffness Cooperative Tracking Control of VSJ of Space Manipulator Based on LESO and NSFAR Control. Electronics 2019, 8, 893.

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