Attitude stabilization control of a free-floating space flexible redundant manipulator

Attitude stabilization control of free-floating space flexible redundant manipulator was disccused. Dynamic equations of a free-floating space flexibly redundant manipulator were established by using Lagrange and assumed mode methods. By using the singularly perturbed method, the model of the space manipulator system could be resolved into a fast subsystem and a slow subsystem, in which the slow-subsystem tracked the trajectory by using fuzzy sliding-mode controller, and the fast-subsystem controller suppressed the vibration of the flexible link by using an optimal controller. Finally, the numerical simulation was carried out, which confirmed the effectiveness of the designed controller.