Dual-observer-based Composite Robust Vibration Control for a Rigid-Flexible Hybrid Space Robot-target Combination

Dual-observer-based Composite Robust Vibration Control for a Rigid-Flexible Hybrid Space Robot-target Combination | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Dual-observer-based Composite Robust Vibration Control for a Rigid-Flexible Hybrid Space Robot-target Combination Houyin Xi, Bin Chen, Jian Tian, Qinghua Ouyang, Xiaodong Zhang, and 1 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-5381494/v1 This work is licensed under a CC BY 4.0 License Status: Published Journal Publication published 07 Feb, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted 11 You are reading this latest preprint version Abstract Space robots play an increasingly important role in orbital servicing, including repairing, refueling, and deorbiting satellites. The space robot-target combination system must be reorientated and berthed before performing orbital service tasks. However, space combination generally has flexible appendages that affect the system control performance. Hence, this paper presents a dual-observer-based composite vibration control for a rigid-flexible hybrid space robot-target combination (RHSRC). Firstly, considering the flexibility of the panels and the joints, uncertainties, and external disturbances, the rigid-flexible coupling dynamics of the combined system is derived, which are decoupled into a reduced-order rigid slow subsystem and a flexible fast subsystem by using the singular perturbation theory. Further, a composite control strategy is proposed for the two subsystems to achieve high-precision trajectory tracking and vibration suppression simultaneously. For the slow subsystem, a fast finite-time extended state observer (FFESO) is designed to estimate the uncertainties, and a tanh-type nonsingular terminal sliding mode (THNTSM) controller is proposed to track desired trajectory, achieving rapid finite-time convergence and low-chattering. A modified linear ESO (LESO) is designed to estimate the uncertainties and hard-to-measure modal information in the fast system. With estimation information from the proposed LESO, an adaptive robust controller is designed for flexible motion. The closed-loop stability of both the slow and fast subsystems is demonstrated using Lyapunov theory. Simulation results demonstrate that the proposed strategy can realize high-precision trajectories while suppressing flexible vibration. space robot orbital servicing spacecraft combination nonsingular terminal sliding model extended state observe Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Published Journal Publication published 07 Feb, 2025 Read the published version in Nonlinear Dynamics → Version 1 posted Editorial decision: Revision requested 06 Jan, 2025 Reviews received at journal 02 Jan, 2025 Reviewers agreed at journal 02 Jan, 2025 Reviews received at journal 27 Dec, 2024 Reviewers agreed at journal 23 Dec, 2024 Reviewers agreed at journal 09 Dec, 2024 Reviewers agreed at journal 08 Nov, 2024 Reviewers invited by journal 06 Nov, 2024 Editor assigned by journal 04 Nov, 2024 Submission checks completed at journal 04 Nov, 2024 First submitted to journal 03 Nov, 2024 You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. 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Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-5381494","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":375996778,"identity":"ed97845b-9ae7-48fb-aec1-4b70f478976d","order_by":0,"name":"Houyin Xi","email":"","orcid":"","institution":"Beijing University of Posts and Telecommunications","correspondingAuthor":false,"prefix":"","firstName":"Houyin","middleName":"","lastName":"Xi","suffix":""},{"id":375996779,"identity":"db444cc9-812a-4c8a-a929-f4a02dd888b8","order_by":1,"name":"Bin 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