Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Vibration and Shock》 2015-16
Add to Favorite Get Latest Update

Singular perturbation augmented robust adaptive PD composite control for flexible-joint dual-arm space robot

CHEN Zhi-yong;CHEN Li;School of Mechanical Engineering and Automation,Fuzhou University;  
To solve the joint movement control problem of a flexible-joint dual-arm space robot system with an uncontrolled base under the effects of external disturbances and unknown load parameters,a singular perturbation augmented robust adaptive PD composite control method was proposed. On the basis of the under-actuated robot dynamic sub-equations and joint motor dynamic sub-equations,a singular perturbation correction model of robot system was established by using the flexibility compensating singular perturbation technique. Then,a composite control integrating the fast varying state feedback control and the augmented robust adaptive PD slowly varying control were designed for the flexible-joint dual-arm space robot with unknown upper bound external disturbances and unknown load parameters. The simulation results confirm that the influences of the joint flexibility,unknown external disturbances and unknown load parameters can be eliminated effectively by the presented control method,and the desired joint movement of dual-arm space robot can be achieved accurately.
【Fund】: 国家自然科学基金项目(11372073);; 福建省中青年教师教育科研项目(JA14045);; 福州大学科技发展基金项目(2013-XY-13);; 福州大学人才基金项目(XRC-1232)
【CateGory Index】: TP242
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【Citations】
Chinese Journal Full-text Database 4 Hits
1 CHEN Zhi-yong,CHEN Li(College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,China);ROBUST-ADAPTIVE COMBINED CONTROL FOR DUAL-ARM SPACE ROBOT WITH EXTERNAL DISTURBANCES AND UNCERTAIN PARAMETERS[J];Engineering Mechanics;2010-12
2 LIU Ye-chao~1 JIN Ming-he~1 LIU Hong~(1,2) (1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China; 2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany);Singular Perturbation Control for Flexible-joint Manipulator Based on Flexibility Compensation[J];Robot;2008-05
3 LIANG Jie;CHEN Li;Department of Mechanical Engineering and Automation,Fuzhou University;China Aerodynamics Research and Development Center;;Nonsingular fuzzy terminal sliding mode control and elastic vibration suppressing of a free-floating space robot with flexible joints based on trajectory tracking of the singular perturbation method[J];Journal of Vibration and Shock;2013-23
4 CHEN Zhi-yong;CHEN Li;College of Mechanical Engineering and Automation,Fuzhou University;;Augmented Adaptive Control and Joint Vibration Suppression for Flexible-Joint Space Robot with Flexibility Compensation[J];Journal of Astronautics;2013-12
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 LIANG Jie,CHEN Li(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,Fujian,China);Fuzzy Logic Adaptive Compensation Control of End-effect Montion and Flexible Vibration for Space-based Flexible Manipulator[J];Acta Armamentarii;2011-01
2 TANG Xiao-teng (Department of Automotive Engineering,Minjiang University,Fuzhou,Fujian 350108,China);Backstepping based robust ANN tracking in inertial space for space robot system with dual-arms[J];Journal of Minjiang University;2010-02
3 CHEN Li (Department of Mechanical Engineering, Fuzhou University, Fuzhou, Fujian 350002, China);Robust variable structure control of joints motion of space-based robot system[J];Journal of Fuzhou University(Natural Sciences Edtion);2001-02
4 GE Jing-hua,CHEN Li(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,Fujian 350002,China);Dynamics and nonlinear feedback control of joint motion for the dual-arm space robot[J];Journal of Fuzhou University(Natural Science Edition);2006-03
5 ZHENG Ming-hui(Department of Mechanical Engineering,College of Fujian Technology,Fuzhou,Fujian 350014,China);Resolved motion adaptive control of coordinated motion of space manipulator system with prismatic joint[J];Journal of Fuzhou University(Natural Science Edition);2006-06
6 CHEN Zhi-huang,CHEN Li (College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou,Fujian 350002,China);Variable structure sliding-mode control for a free-floating dual-arm space robot to track desired trajectory in joint space[J];Journal of Fuzhou University(Natural Science Edition);2007-03
7 CHEN Li1 , LIU Yan-zhu2 (1. Department of Mechanical Engineering, Fuzhou University; 2. Department of Engineering Mechanics, Shanghai Jiaotong University);THE ROBUST ADAPTIVE CONTROL OF COORDINATED MOTION OF SPACE-BASED ROBOT SYSTEM[J];Engineering Mechanics;2002-02
8 CHEN Li (Department of Mechanical Engineering, Fuzhou University, Fujian 350002, China);ROBUST AND ADAPTIVE COMPOSITE CONTROL OF SPACE ROBOT SYSTEM WITH PRISMATIC JOINTS[J];Engineering Mechanics;2004-03
9 GUO Yi-shen , CHEN Li (College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China);AUGMENTED ADAPTIVE CONTROL OF FREE-FLOATING DUAL-ARM SPACE ROBOT SYSTEM IN INERTIAL SPACE[J];Engineering Mechanics;2008-01
10 TANG Xiao-teng , CHEN Li (College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China);OPTIMAL NONHOLONOMIC MOTION PLANNING OF SPACE ROBOT SYSTEM WITH DUAL-ARMS USING ADAPTIVE GENETIC ALGORITHM[J];Engineering Mechanics;2008-02
China Proceedings of conference Full-text Database 10 Hits
1 Chen Li 1,Tang Xiaoteng 2 1.College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,Fujian,P.R.China2.College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,Fujian,P.R.China;Robust Variable Structure Control for Free-floating Space Robot System with Dual-Arms in Joints Space[A];[C];2007
2 Hong Zhaobin1,Chen Li2Fuzhou University,College of Mechanical Engineering,Fuzhou 350002,P.R.China;Adaptive Control Schemes of Free-floating Dual-arm Space Robot System in Joint Space[A];[C];2007
3 Guo Yishen1,Chen Li2 1.College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,P.R.China2.College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,P.R.China;Adaptive Neural Network Control of Free-Floating Space Manipulator System in Joint Space[A];[C];2007
4 Tang Xiaoteng 1,Chen Li 2 1.College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,P.R.China 2.College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,P.R.China;Robust Output Tracking for Uncertained Space Robot System with Du al-Arms Using Backstepping Method[A];[C];2008
5 ZHAO Zhigang,TIAN Hao,ZHAO Yang School of Astronautics,Harbin Institute of Technology,Harbin 150001,P.R.China;Active Disturbance Rejection Control for Trajectory Tracking of Space Manipulator Flexible Joint[A];[C];2011
6 Xiaoteng Tang~1,Li Chen~2 1.The Department of Automotive Engineering,Minjiang University,Fuzhou,350108 2.The College of Mechanical Engineering,Fuzhou University,Fuzhou,350002;Compensating Learning Control for Free-floating Space Robot System with Dual-Arms Using Genetic Algorithm in Joints Space[A];[C];2009
7 Tang Xiaoteng, Chen Li College of Mechanical Engineering, Fuzhou University, Fuzhou 350002;Optimal Nonholonomic Motion Planning of Space Robot System with Dual-Arms Based on Adaptive Genetic Algorithm[A];[C];2006
8 Ge Jinghua,Chen Li College of Mechanical Engineering, Fuzhou University, Fuzhou 350002;Trajectory Tracking Control in Inertia Space of Dual-Arm Space Robot System[A];[C];2006
9 CHEN Li (Department of Machinery Engineering, Fuzhou University, Fuzhou, 350002);The Spacecraft-Referenced End-Point Motion Adaptive Control of Space-Based Robot System[A];[C];2001
10 Guo Yi;Flight Training Department,Shanghai Aircraft Customer Service Co.,Ltd.;;Position Feedback Dynamic Surface Control for Flexible-Joint Robots[A];[C];2013
【Secondary Citations】
Chinese Journal Full-text Database 10 Hits
1 CHEN Li1 , LIU Yan-zhu2 (1. Department of Mechanical Engineering, Fuzhou University; 2. Department of Engineering Mechanics, Shanghai Jiaotong University);THE ROBUST ADAPTIVE CONTROL OF COORDINATED MOTION OF SPACE-BASED ROBOT SYSTEM[J];Engineering Mechanics;2002-02
2 GUO Yi-shen , CHEN Li (College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China);AUGMENTED ADAPTIVE CONTROL OF FREE-FLOATING DUAL-ARM SPACE ROBOT SYSTEM IN INERTIAL SPACE[J];Engineering Mechanics;2008-01
3 LIANG Jie , CHEN Li (College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China);FUZZY LOGIC ADAPTIVE COMPENSATION CONTROL FOR DUAL-ARM SPACE ROBOT BASED ON COMPUTED TORQUE CONTROLLER TO TRACK DESIRED TRAJECTORY IN INERTIA SPACE[J];Engineering Mechanics;2010-11
4 CHEN Zhi-yong,CHEN Li(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China);ADAPTIVE VARIABLE STRUCTURE CONTROL FOR FLEXIBLE SPACE MANIPULATOR BASED ON HYBRID SLIDING MODE CONCEPT[J];Engineering Mechanics;2012-02
5 Ding Xilun,Yu Yushu(Robotics Institute,Beijing University of Aeronautics and Astronautics,Beijing 100191,China);A Multi-propeller and Multi-function Aero-robot and Its Motion Planning of Leg-wall-climbing[J];Acta Aeronautica Et Astronautica Sinica;2010-10
6 LIANG Jie1,2,CHEN Li1, 1.Department of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China 2.China Aerodynamics Research and Development Center,Mianyang 621000,China;Improved Nonlinear Feedback Control for Free-floating Space-based Robot with Time-delay Based on Predictive and Approximation of Taylor Series[J];Acta Aeronautica et Astronautica Sinica;2012-01
7 HONG Zai-di1,YUN Chao1,CHEN Li2(1.Beihang University,Beijing 100083,China;\ 2.Fuzhou University, Fuzhou 350002,China);Modeling and Trajectory Tracking Control of a Free-Floating Space Robot with Flexible Manipulators[J];Robot;2007-01
8 LIU Ye-chao~1 JIN Ming-he~1 LIU Hong~(1,2) (1.State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150001,China; 2.Institute of Robotics and Mechatronics,German Aerospace Center,Munich 82230,Germany);Singular Perturbation Control for Flexible-joint Manipulator Based on Flexibility Compensation[J];Robot;2008-05
9 Chen Li (Fuzhou University) Liu Yanzhu (Shanghai Jiaotong University);ADAPTIVE AND ROBUST CONTROL SCHEMES OF COORDINATED MOTION OF SPACE-BASED ROBOT SYSTEM[J];Chinese Journal of Mechanical Engineering;2001-08
10 GE Xinsheng; ZHANG Qizhi(Division of Basic Courses, Beijing Institute of Machinery, 100085)LIU Yanzhu(Department of Engineering Mechanics, Shanghai Jiaotong University);AN OPTIMIZED METHOD TO CONTROL THE MOTION PLANNING OF SPACE MANIPULATORS BASE GENETIC ALGORITHM[J];CHINESE JOURNAL OF SPACE SCIENCE;2000-02
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved