Design Of The Intelligent Control System And Dynamics Simulation Of Free-floating Space Robot System Under Multiple Complicated Circumstances

With the development of the space technology, the influences of the space robot system’s flexibility (including flexible joint and flexible manipulator) should not be ignored. And the multiple complicated circumstances (the influence of time-delay of space robot teleoperation, the situation of space robot joint actuator output torque amplitude and amplitude rate saturation constraints, the control problem for compounded body of space-based robot and target satellite after capturing operation is completed) should be taken into account during the practical control process. Based on the above backgrounds, the design of the intelligent control system and dynamics simulation of free-floating space robot system under multiple complicated circumstances are developed in this paper.Firstly, the dynamical equation of the free-floating rigid space robot, of the free-floating space robot with flexible manipulator, of the free-floating space robot with flexible joints, and of the free-floating space robot with flexible manipulator and flexible joints are successively derived by combining with the system linear momentum and angle momentum conservation, Lagrange equation, the assume mode method used to describe the flexible manipulator’s deformation and the linear spring model of the flexible joint.Second, separately do the research for the problems of the control of a free-floating space-based robot system with time delay to track the desired trajectory in inertial space, the dynamics control problem for unknown parameter space-based robot system to coordinated movement, that under the situation of joint actuator output torque amplitude and amplitude rate saturation constraints, stability control problem for compounded body of space-based robot and target satellite after capturing operation is completed.Then, for purposes of realizing the accurate positioning and the elastic vibration active suppression of the free-floating space robot system with flexible joints, the nonsingular fuzzy terminal sliding mode control based on singular perturbation theory, the radial basis function neural network adaptive control based on a joint flexibility compensation controller and singular perturbation theory and the adaptive recurrent wavelet neural network control algorithm based on cascade systems method are proposed.Further, for effectively realize the expected rigid motion control and flexible vibration suppression target of space robot with the flexible manipulator, the fuzzy logic adaptive compensation control algorithm, the dual-loop integral sliding mode control algorithm, the neural network adaptive compensation control algorithm, the fuzzy wavelet CMAC neural network control algorithm based on singular perturbation theory and the neural network L-two-gain robust control algorithm, the fuzzy adaptive algorithm using backstepping controller based on virtual control force conception are given.In addition, for purposes of realizing the accurate positioning and the double elastic vibration active suppression of the free-floating space robot system with flexible joints and flexible manipulator, the neural network adaptive backstepping control algorithm based on singular perturbation theory and the adaptive fuzzy global sliding mode control algorithm, the robust H∞ control based on virtual desired trajectory are given.Finally, the control algorithm proposed in this paper are verified by the system numerical simulation experiments. The simulation results proved the validity and feasibility of the proposed control algorithm.