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

电子信息工程学院

Beihang University
National University of Singapore

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

6 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2014 IEEE International Conference on Information and Automation, ICIA 2014
出版商	Institute of Electrical and Electronics Engineers Inc.
页	164-169
页数	6
ISBN（电子版）	9781479941001
DOI	https://doi.org/10.1109/ICInfA.2014.6932646
出版状态	已出版 - 21 10月 2014
活动	2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, 中国期限: 28 7月 2014 → 30 7月 2014

出版系列

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

会议

会议	2014 IEEE International Conference on Information and Automation, ICIA 2014
国家/地区	中国
市	Hailar, Hulunbuir
时期	28/07/14 → 30/07/14

访问文件

10.1109/ICInfA.2014.6932646

其它文件与链接

链接到 Scopus 的出版物

引用此

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. 在 2014 IEEE International Conference on Information and Automation, ICIA 2014 (页码 164-169). 文章 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. 页码 164-169 (2014 IEEE International Conference on Information and Automation, ICIA 2014).

@inproceedings{292410a804a54cdeb9c0c347d6e3bf47,

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",

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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. 在 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., 页码 164-169, 2014 IEEE International Conference on Information and Automation, ICIA 2014, Hailar, Hulunbuir, 中国, 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. 页码 164-169 6932646 (2014 IEEE International Conference on Information and Automation, ICIA 2014).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach

AU - Yang, Xinxin

AU - Ge, Shuzhi Sam

PY - 2014/10/21

Y1 - 2014/10/21

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

UR - https://www.scopus.com/pages/publications/84914154855

U2 - 10.1109/ICInfA.2014.6932646

DO - 10.1109/ICInfA.2014.6932646

M3 - 会议稿件

AN - SCOPUS:84914154855

T3 - 2014 IEEE International Conference on Information and Automation, ICIA 2014

SP - 164

EP - 169

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2014 IEEE International Conference on Information and Automation, ICIA 2014

Y2 - 28 July 2014 through 30 July 2014

ER -

Yang X, Ge SS. Backstepping control and active vibration control for a free-flying space robot with rigid-flexible links by singular perturbation approach. 在 2014 IEEE International Conference on Information and Automation, ICIA 2014. Institute of Electrical and Electronics Engineers Inc. 2014. 页码 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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