Yu Zhang-Wei and Cai Guo-Ping
Space robot, dynamics modelling, flexible panels, fault tolerant control, Lyapunov theory, vibration suppression
In this paper, the dynamic modelling and fault tolerant control of a 6-DOF space robot with flexible panels are studied. By utilizing the Jourdain’s velocity variation principle and the single direction recursive construction method, the dynamic model of the space robot is constructed. An adaptive sliding mode fault tolerant controller is designed for the system with consideration of actuator faults, and the stability of the controller is guaranteed by using the Lyapunov theory. The effectiveness of the dynamic model is verified by comparing the results with Adams software. The numerical simulation validates the effectiveness of the proposed method in describing the dynamic behaviours of the space robot system, which could be notably affected by the flexibility of the panels. Meanwhile, the designed controller can ensure the space robot with actuator faults reaching the preset position, and the vibration of flexible panels can be suppressed simultaneously.
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