Partial feedback linearization control of space flexible-link manipulator with geometric nonlinearity

In this paper, geometric nonlinearity of a flexible link is considered for dynamic modeling of free-floating space manipulators. The system dynamics is derived by Lagrange theorem in conjunction with the assumed modes method. By reducing some parameters, dynamic equations of small deflection is obtained for control system design. For position control design, modified partial feedback linearization control is developed with the parameter optimization process by genetic algorithm. Position control performances based on models without considering geometric nonlinearity are illustrated by numerical simulations. The simulation results demonstrate that even in the condition of large deflections, the position control law based on models considering small deflections can also reach a good performance of IAE (Integral of the Absolute value of Error).