• About
  • Advanced Search
  • Browse Proceedings
  • Access Policy
  • Sponsor
  • Contact
  • A COMPOSITE CONTROL SCHEME FOR JOINT TRACKING AND ACTIVE VIBRATION SUPPRESSION OF MOBILE FLEXIBLE MANIPULATOR SYSTEMS

    Paper ID

    93-iaf-29

    author

    • V.J. Modi
    • F. Karray
    • H. Mah

    company

    Department of Mechanical Engineering, The University of British Columbia

    country

    Canada

    year

    1993

    abstract

    A composite control scheme for dealing with the settling and joint tracking behavior of a relatively general model of an orbiting platform supporting a multi-link flexible manipulator system is proposed. The main focus here is on providing a reliable dynamical model of the orbiting mobile flexible manipulator (MFM) and on designing a control procedure capable of insuring high joint tracking and settling performance with active vibration suppression at the systems elastic appendages. To begin with, the dynamics of the system is derived. It is based on a realtively general formulation developed for dealing with the dynamics of a large class of interconnected flexible and/or rigid bodies forming a chain type topology. The formulation is applied here for purposes of studying the complex dynamics of the Space Station and the attached MFM when subjected to a class of induced of disturbances and maneuvers of different appendages attached to the system. A nonlinear control procedure for dealing with the nonlinear character and mode coupling of the system, is then proposed. The main objective is on achieving a high tracking performance at the manipulator joints, and actively suppress vibrations of the flexible arms caused by slewing and translational maneuvers. Based on a composite control scheme combining the input-output feedback linearization technique with the piezo-electric active vibration suppression, the procedure allows for a high performance of the manipulator both in joint as well as in tip trajectory tracking. Numerical simulations are then carried out for purposes of validating the analytical dynamical model and the control synthesis thus developed, and recommendations for further analysis are proposed.