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In order to satisfy the requirement of agile and precise performance of flexible spacecraft during an orientating maneuver with a large angle of rotation, an Adaptive Disturbance Rejection Filter (ADRF) combined with Optimal Input Shaping (OIS) control law is developed for a rigid space platform with flexible manipulator. OIS based smoothing method is applied to the flexible manipulator to suppress the vibrating motion of the flexible appendage and alleviate effect of it on the platform primarily. Furthermore, the mitigation of periodic disturbance is caused by the excitation of flexible appendages. The mitigation is studied by disturbance-rejection filter. The filter considers the inevitable existence of nonlinear coupling between the platform motion and manipulator vibration motion, the disturbance frequency is an important factor need to be intensively studies. We present an Adaptive Notch Filter(ANF) that is based on close-loop system identification method. The filter helps identify the disturbance frequency and update the parameters of the DRF adaptively. Simulation results confirm the ability of the proposed controller in high-speed and precise attitude switching maneuver while suppressing the manipulator vibration.
Date of Conference: 21-23 April 2012