Decentralized Intelligent Control Of Rigid-flexible Hybrid Space Robots With Unknown Dynamics Model

Space robot systems will play an increasingly big role in the human exploration of the outer space,and the realization of accurate and stable control is the base of using space robot systems.In order to reduce the consumption of the expensive fuel,it is necessary to research the control problem of free-floating space robots.In consideration of complex and varied space missions,researchers should design the more powerful dual-arm space robot systems.At present the controllers of robots mostly use centralized control mode,so the design and application of the controllers are difficult.The flexible vibration of flexible-arm space robot should also be considered.So decentralized intelligent control of free-floating rigid-flexible hybrid space robots is deeply discussed in this paper.On the basis of the reasonable simplification for space robot model,the dynamical equations of the single-arm space robot and dual-arm space robot and flexible space robot,are established via the second Lagrange equation modeling method combining the momentum conservation law and the assume mode method used to describe the flexible manipulator's deformation.This chapter provides the necessary theoretical basis for the follow-up research work.Decentralized control is successfully applied to the control of the free-floating space robots,and a decentralized intelligent control scheme is designed to control the single-arm space robot with completely unknown dynamics model.The dynamical equation of the single-arm space robot is split into five interconnected subsystems.A adaptive fuzzy sliding control scheme not based on the model is proposed for the subsystems.The structure of decentralized control is clear,and the subsystems don't interact.The simulation results show that the proposed control scheme is reliable.Velocity observer-based decentralized control is designed for every subsystem.To realize trajectory tracking,a velocity observer-based decentralized intelligent control scheme is designed for dual-arm space robot which has completely unknown dynamics model.This control method which needn't feedback the speed of space robot reduces the cost of space robot system and improves the robustness of the control system.The simulation results show the effectiveness of this proposed control method.Trajectory tracking control and vibration suppression problems of flexible space manipulator are discussed base on the singular perturbation theory.Decentralized adaptive fuzzy mode control and vibration suppression PD feedback control for flexible space manipulator with partly unknown parameters and decentralized adaptive fuzzy mode control and vibration suppression fuzzy control in the presence of completely unknown parameters are proposed.The simulation results show decentralized intelligent control method is of strong robustness and the composite schemes have obvious effect to suppress vibration.