Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible Beams
This paper proposes a distributed passivity-based control scheme for the consensus and vibration suppression of multiple space manipulators holding flexible beams. A space manipulator holding a flexible beam is essentially a rigid–flexible underactuated system. The bending deformation of the flexibl...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/1/20 |
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| author | Ti Chen Yue Cao Mingyan Xie Shihao Ni Enchang Zhai Zhengtao Wei |
| author_facet | Ti Chen Yue Cao Mingyan Xie Shihao Ni Enchang Zhai Zhengtao Wei |
| author_sort | Ti Chen |
| collection | DOAJ |
| description | This paper proposes a distributed passivity-based control scheme for the consensus and vibration suppression of multiple space manipulators holding flexible beams. A space manipulator holding a flexible beam is essentially a rigid–flexible underactuated system. The bending deformation of the flexible beam is discretized by employing the assumed modes method. Based on Lagrange’s equations of the second kind, the dynamics model of each manipulator holding a flexible beam is established. By connecting such underactuated systems with the auxiliary Euler–Lagrange systems, a distributed passivity-based controller is designed under undirected communication graphs. To suppress flexible vibration effectively, a distributed controller with the feedback of the velocity of deflection at the free end of the flexible beam is proposed to achieve the manipulator synchronization and vibration suppression simultaneously. The stability of the proposed controller is analyzed with LaSalle’s invariance principle. Numerical simulations and experiments are conducted to show the effectiveness of the designed controllers. |
| format | Article |
| id | doaj-art-ef7d540cf8a44190b89bab9a7348760e |
| institution | Kabale University |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-ef7d540cf8a44190b89bab9a7348760e2025-01-24T13:15:11ZengMDPI AGActuators2076-08252025-01-011412010.3390/act14010020Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible BeamsTi Chen0Yue Cao1Mingyan Xie2Shihao Ni3Enchang Zhai4Zhengtao Wei5State Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aero-Nautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aero-Nautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aero-Nautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aero-Nautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aero-Nautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control for Aerospace Structures, Nanjing University of Aero-Nautics and Astronautics, No. 29 Yudao Street, Nanjing 210016, ChinaThis paper proposes a distributed passivity-based control scheme for the consensus and vibration suppression of multiple space manipulators holding flexible beams. A space manipulator holding a flexible beam is essentially a rigid–flexible underactuated system. The bending deformation of the flexible beam is discretized by employing the assumed modes method. Based on Lagrange’s equations of the second kind, the dynamics model of each manipulator holding a flexible beam is established. By connecting such underactuated systems with the auxiliary Euler–Lagrange systems, a distributed passivity-based controller is designed under undirected communication graphs. To suppress flexible vibration effectively, a distributed controller with the feedback of the velocity of deflection at the free end of the flexible beam is proposed to achieve the manipulator synchronization and vibration suppression simultaneously. The stability of the proposed controller is analyzed with LaSalle’s invariance principle. Numerical simulations and experiments are conducted to show the effectiveness of the designed controllers.https://www.mdpi.com/2076-0825/14/1/20underactuated systemspassivity-based controlvibration suppressiondistributed controlrigid–flexible |
| spellingShingle | Ti Chen Yue Cao Mingyan Xie Shihao Ni Enchang Zhai Zhengtao Wei Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible Beams Actuators underactuated systems passivity-based control vibration suppression distributed control rigid–flexible |
| title | Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible Beams |
| title_full | Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible Beams |
| title_fullStr | Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible Beams |
| title_full_unstemmed | Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible Beams |
| title_short | Distributed Passivity-Based Control for Multiple Space Manipulators Holding Flexible Beams |
| title_sort | distributed passivity based control for multiple space manipulators holding flexible beams |
| topic | underactuated systems passivity-based control vibration suppression distributed control rigid–flexible |
| url | https://www.mdpi.com/2076-0825/14/1/20 |
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