| 自由漂浮空间机器人末端轨迹优化自适应控制 |
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| 引用本文： | 羊帆,张国良,田琦,王小建.自由漂浮空间机器人末端轨迹优化自适应控制[J].控制与决策,2018,33(9):1699-1707. |
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| 作者姓名： | 羊帆 张国良 田琦 王小建 |
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| 作者单位： | 火箭军工程大学控制科学与工程系，西安710025,火箭军工程大学控制科学与工程系，西安710025,火箭军工程大学控制科学与工程系，西安710025,中航飞机西安民机有限责任公司，陕西阎良710000 |
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| 摘 要： | 惯性参数不确定情况下的自由漂浮空间机器人(FFSR)轨迹跟踪控制是当前FFSR自主控制研究的重点与难点之一.针对该问题,提出一种FFSR末端轨迹优化自适应跟踪控制方法.该方法首先基于离散状态依赖黎卡提方程(DSDRE),设计两级DSDRE优化跟踪控制器,然后在控制器输出基础上,通过求解有约束条件下的非线性优化问题实现FFSR惯性参数的辨识,进而根据辨识结果调整控制器相关参数,实现FFSR末端轨迹的优化自适应跟踪控制.最后,采用平面两连杆FFSR模型进行仿真,验证了所提出方法的有效性.
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| 关 键 词： | 自由漂浮空间机器人 跟踪控制 参数辨识 优化自适应控制 |
Optimal adaptive tracking control of effector trajectory for free-floating space robot |
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| YANG Fan,ZHANG Guo-liang,TIAN Qi and WANG Xiao-jian.Optimal adaptive tracking control of effector trajectory for free-floating space robot[J].Control and Decision,2018,33(9):1699-1707. |
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| Authors: | YANG Fan ZHANG Guo-liang TIAN Qi and WANG Xiao-jian |
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| Affiliation: | Department of Control Science and Engineering,Rocket Force Engineering University,Xián 710025,China,Department of Control Science and Engineering,Rocket Force Engineering University,Xián 710025,China,Department of Control Science and Engineering,Rocket Force Engineering University,Xián 710025,China and AVIC Aircraft Xián Commercial Aircraft Corporation LTD,Yanliang 710000,China |
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| Abstract: | The effector trajectory control for the free-floating space robot(FFSR) with uncertain inertial parameters is one of hotpot about FFSR''s control. Focusing on this problem, an optimal adaptive tracking control method is proposed. According to the discrete state dependent riccati equation(DSDRE), a two-stage DSDRE optimal controller is designed. By using the controller output and solving a nonlinear optimization problem, inertial parameter identification is solved. By using the result of inertial parameter identification, parameters of the two-stage DSDRE controller are adjusted in order to obtain the optimal adaptive tracking control method. Finally, simulations are carried out with the two-link planar FFSR model, which demonstrates the effectiveness of the propored method. |
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