Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach

Xinxin Yang; Shuzhi Sam Ge

doi:10.1109/ICInfA.2014.6932646

Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach

Xinxin Yang
, Shuzhi Sam Ge

School of Electronic and Information Engineering

Beihang University
National University of Singapore

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

In this paper, the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. To provide an accurate representation of the flexible space robot's behavior, the dynamics of the system are described by means of assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of backstepping control and active vibration control is derived to track the desired trajectory. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulations are carried out and satisfactory results are provided to illustrate the effectiveness of the proposed control.

Original language	English
Title of host publication	2014 IEEE International Conference on Information and Automation, ICIA 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	164-169
Number of pages	6
ISBN (Electronic)	9781479941001
DOIs	https://doi.org/10.1109/ICInfA.2014.6932646
State	Published - 21 Oct 2014
Event	2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, China Duration: 28 Jul 2014 → 30 Jul 2014

Publication series

Name	2014 IEEE International Conference on Information and Automation, ICIA 2014

Conference

Conference	2014 IEEE International Conference on Information and Automation, ICIA 2014
Country/Territory	China
City	Hailar, Hulunbuir
Period	28/07/14 → 30/07/14

Keywords

Backstepping Control
Dynamics
Flexible Manipulator
Free-Flying Space Robot
Vibration Control

Access to Document

10.1109/ICInfA.2014.6932646

Cite this

Yang, X., & Ge, S. S. (2014). Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach. In 2014 IEEE International Conference on Information and Automation, ICIA 2014 (pp. 164-169). Article 6932646 (2014 IEEE International Conference on Information and Automation, ICIA 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2014.6932646

Yang, Xinxin ; Ge, Shuzhi Sam. / Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach. 2014 IEEE International Conference on Information and Automation, ICIA 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 164-169 (2014 IEEE International Conference on Information and Automation, ICIA 2014).

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title = "Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach",

abstract = "In this paper, the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. To provide an accurate representation of the flexible space robot's behavior, the dynamics of the system are described by means of assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of backstepping control and active vibration control is derived to track the desired trajectory. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulations are carried out and satisfactory results are provided to illustrate the effectiveness of the proposed control.",

keywords = "Backstepping Control, Dynamics, Flexible Manipulator, Free-Flying Space Robot, Vibration Control",

author = "Xinxin Yang and Ge, \{Shuzhi Sam\}",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Information and Automation, ICIA 2014 ; Conference date: 28-07-2014 Through 30-07-2014",

year = "2014",

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doi = "10.1109/ICInfA.2014.6932646",

language = "英语",

series = "2014 IEEE International Conference on Information and Automation, ICIA 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Yang, X & Ge, SS 2014, Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach. in 2014 IEEE International Conference on Information and Automation, ICIA 2014., 6932646, 2014 IEEE International Conference on Information and Automation, ICIA 2014, Institute of Electrical and Electronics Engineers Inc., pp. 164-169, 2014 IEEE International Conference on Information and Automation, ICIA 2014, Hailar, Hulunbuir, China, 28/07/14. https://doi.org/10.1109/ICInfA.2014.6932646

Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach. / Yang, Xinxin; Ge, Shuzhi Sam.
2014 IEEE International Conference on Information and Automation, ICIA 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 164-169 6932646 (2014 IEEE International Conference on Information and Automation, ICIA 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Yang, Xinxin

AU - Ge, Shuzhi Sam

PY - 2014/10/21

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N2 - In this paper, the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. To provide an accurate representation of the flexible space robot's behavior, the dynamics of the system are described by means of assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of backstepping control and active vibration control is derived to track the desired trajectory. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulations are carried out and satisfactory results are provided to illustrate the effectiveness of the proposed control.

AB - In this paper, the dynamics and tracking control for a free-flying space robot with rigid-flexible links are developed. To provide an accurate representation of the flexible space robot's behavior, the dynamics of the system are described by means of assumed mode approach and Lagrangian method. Based on singular perturbation approach, a composite control scheme of backstepping control and active vibration control is derived to track the desired trajectory. With the proposed control scheme, the closed-loop stability of the flexible space robot can be achieved. Numerical simulations are carried out and satisfactory results are provided to illustrate the effectiveness of the proposed control.

KW - Backstepping Control

KW - Dynamics

KW - Flexible Manipulator

KW - Free-Flying Space Robot

KW - Vibration Control

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DO - 10.1109/ICInfA.2014.6932646

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BT - 2014 IEEE International Conference on Information and Automation, ICIA 2014

PB - Institute of Electrical and Electronics Engineers Inc.

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Yang X, Ge SS. Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach. In 2014 IEEE International Conference on Information and Automation, ICIA 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 164-169. 6932646. (2014 IEEE International Conference on Information and Automation, ICIA 2014). doi: 10.1109/ICInfA.2014.6932646

Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach

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