The Trajectory Tracking of Space Flexible Manipulator with Large Payloads Based on Optimal Control

被引：0
|
作者：
Jia, Qingxuan [1 ]
Yao, Wei [1 ]
Chen, Gang [1 ]
Sun, Hanxu [1 ]
机构：
[1] Beijing Univ Posts & Telecommun, Sch Automat, Beijing 100088, Peoples R China
来源：
PROCEEDINGS OF THE 2013 IEEE 8TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2013年
关键词：
space manipulator; large payloads; optimal control; trajectory tracking;
D O I：
暂无
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In this paper, a novel trajectory tracking method based on the optimal control is presented for space flexible manipulator with large payloads. According to the model of Euler-Bernoulli beam, the Lagrange equation and the assumed mode method are used to establish dynamic equation of flexible manipulator. Then the further dynamic equation of space flexible manipulator with large payloads is derived by taking the influence of the payloads into account. On the basis of the above dynamic equation, the trajectory tracking strategy of space flexible manipulator with large payloads is researched by using the optimal control method. A reasonable and effective method is proposed to calculate the weighting coefficients of optimal control. The effectiveness and feasibility of the proposed control algorithm are verified by numerical simulation.
引用
收藏
页码：1569 / 1573
页数：5
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