Semi-physical simulation experiments on vibration control of flexible space manipulator

A scheme of adaptive input shaper (AIS) combined with output feedback controller is proposed to suppress the vibration of flexible space manipulator. AIS is obtained by optimal arbitrary input shaper (OAIS) with auto adjusting mechanism, which is deduced with the empirical transfer function estimate (ETFE) technique. Taking single gimbal control moment gyros (SGCMGs) with pyramid type configuration as body actuator, semi-physical simulation experimental platform is established based on real-time simulator, PMAC motion controller and SGCMGs. By considering the effect of environment disturbance and actuator limitation, semi-physical simulation experiments of the control scheme are implemented. The experiment results validate that the proposed scheme can realize high precision pointing control of manipulator, as well as accurate attitude stabilization of body spacecraft, compared with the OAIS and conventional control methods, the proposed scheme can suppress the residual vibration effectively.