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Singular Perturbation Augmented Robust Control and Vibration Suppression of Free-floating Flexible Space Manipulators

Singular perturbation robust control is proposed for a free-floating space manipulator with multiple flexible links and unknown but bounded physical parameters. The dynamical equation is established based on the Lagrange equations and the assumed mode technique. A singular perturbation model has been formulated and used for designing a reduced-order controller. This controller consists of a rigid control component and a fast control component. An augmented robust controller is constructed for the rigid counterpart of the flexible manipulator. The fast subsystem controller will damp out the vibrations of flexible links by using optimal Linear Quadratic Regulator method. Numerical simulations by undertaking a computer simulation of a two-flexible-link manipulator using the fourth-order Runge–Kutta integration method show that the link vibrations have been stabilized effectively with good tracking performance.