Robust Tracking Control for Flexible Space End Effector

Abstract

In this paper, a robust tracking control strategy is proposed for flexible space end effector. First, a flexible end effector is designed for the purpose of decreasing the rigid collision caused by the contact between space manipulator with the target. Permanent magnet spherical motor (PMSM) combining yaw, pitch, and roll motions in a single joint is employed to track the trajectory of the end effector. Then, the dynamic model of PMSM rotor is built according to the second Lagrange equation and the Cardan angle coordinate transformation. Finally, based on computed torque method, a robust control strategy is presented to reject the external disturbance. The simulation results illustrate the strong robustness of proposed control scheme.