A Second-Order Parametric Approach to Track Following Control of FFSM

摘要：

In this paper, a robust second-order parametric approach to track following control is proposed for the free-flying space manipulator (FFSM) system. The dynamic equation of the system is derived via momentum conservation law and Lagrangian equation. It is a second-order matrix nonlinear formulation in nature. A feedback stabilizing controller and a feedforward compensation controller are built based on the parametric approach. The free parameters are optimized to obtain desired requirement and characteristics. The scheme can be applied to multi-objective optimization problem too. Simulation results are presented to show the effectiveness of the proposed method.

作者: LI Shi DUAN Guang-Ren LI Bin

作者单位: Harbin Institute of Technology, Harbin 150001, P.R.China

会议类型: 国际会议

会议名称: The 30th Chinese Control Conference(第三十届中国控制会议)

会议地点: 烟台

会议语种:英文

页码: 1-4

在线出版日期: 2011-07-01（万方平台首次上网日期，不代表论文的发表时间）