Dynamical Simulation and Robust Control for Space Robot with Parameters Uncertainty under the Influence of Flexible Links and Elastic Base

The study is primarily focused on reducing flexible vibration and improving trajectory tracking in a space robot system, which is heavily influenced by the base and link's elastic characteristics. Commencing by the modelling of the association between the flexible base and links, they are illustrated as a linear spring. The flexible links, on the other hand, are portrayed as Euler-Bernoulli beams, with the aim to establish the system's dynamic model. The system is then bifurcated into slow and fast subsystems, employing singular perturbation theory. The slow subsystem is responsible for rigid motion whereas the fast one caters to the base elasticity and link vibration. A robust control plan is then executed for the slow subsystem to compensate for uncertainty in inertia parameters and to enhance trajectory tracking performance. Moreover, a linear quadratic optimal control methodology is integrated to simultaneously control the vibration of the elastic base and the two flexible links. After implementing the proposed control method, simulations are conducted to verify its effectiveness.