Dynamic Modeling and Stochastic Feedback Control of the Space Rigid-Flexible Manipulator

This paper investigates dynamic modeling and stochastic feedback control problem of the space rigid-flexible manipulator. To establish the dynamic model of the system, the lateral deformation, longitudinal deformation and coupling deformation are considered. A decoupled feedback control method is applied for trajectory tracking under disturbance, and a replanning strategy in an event-triggered fashion is proposed. Computational results for modeling and trajectory tracking of a space rigid-flexible manipulator are presented.