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柔性空间机械臂捕获卫星过程的鲁棒镇定与自适应抑振复合控制 总被引:1,自引:0,他引:1
《机器人》2014,(3)
分析漂浮基柔性空间机械臂捕获运动卫星过程的碰撞动力学,及受碰撞冲击后的不稳定空间机械臂系统的控制.首先,利用假设模态法近似描述柔性杆的弹性变形,并结合第二类拉格朗日方程建立柔性空间机械臂多体系统动力学模型.而后,基于动量守恒原理,利用动量冲量法分析空间机械臂捕获卫星的碰撞动力学.针对受碰撞冲击后不稳定运动空间机械臂,设计鲁棒镇定与自适应抑振复合控制以维持空间机械臂与被捕获卫星组合体系统稳定.最后,数值仿真揭示了碰撞冲击影响效应,并验证了上述控制算法的有效性. 相似文献
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针对连续体机械臂动力学建模困难,控制难度大的问题,使用特征建模的方法,用简化等价的特征模型设计了自适应鲁棒控制器。首先,通过对机械臂系统进行分析,使用特征建模得到等价的动力学模型,然后采用递推最小二乘法进行参数辨识,得到该特征模型的特征参数,最后,利用模型与辨识得到的参数设计了一种结合滑模控制的自适应控制器。通过仿真实验对本文方法与传统PID方法进行对比,仿真结果表明,本文的方法对于末端角度控制的跟踪精度高,同时对于末端扰动有着良好的自适应能力和鲁棒性。 相似文献
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在工业机械臂系统的跟踪控制过程中,由于其结构和工作环境复杂,导致难以建立精确的系统模型,针对此问题提出了基于多层前馈神经网络的自适应鲁棒控制器.通过神经网络在线估计机械臂系统动力学模型,并在控制器中进行补偿,同时设计了一个在线更新的鲁棒项克服神经网络的重构误差;考虑机械臂实际系统的输出约束,采用障碍李雅普诺夫函数设计控制律并证明系统的稳定性从而使系统满足约束条件.仿真实验结果表明:在约束条件下所提出的控制器能够实现系统的一致最终有界稳定,且跟踪性能良好,并具有很好的抗干扰和自适应能力. 相似文献
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机械臂轨迹跟踪控制研究进展 总被引:6,自引:0,他引:6
综述了近年来刚性机械臂轨迹跟踪控制研究领域的最新进展.根据应用于机械臂的不同控制算法进行分类,从自适应PID控制、神经网络自适应控制、模糊自适应控制、滑模变结构控制和鲁棒自适应控制5种主要控制方法进行阐述.重点从关节空间出发,论述了各种控制算法在提高机械臂轨迹跟踪性能方面的各自优缺点,并分析了它们之间的相互联系.对机械... 相似文献
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参数不确定空间机械臂系统的鲁棒自适应混合控制 总被引:11,自引:0,他引:11
讨论了载体位置与姿态均不受控制的漂浮基空间机械臂系统的控制问题.对系统运动学、动力学的分析结果表明,结合系统动量守恒及动量矩守恒关系得到的系统广义Jacobi关系以及系统的动力学方程是系统惯性参数的非线性函数.证明了借助于增广变量法可以将系统的增广广义Jacobi矩阵及系统动力学方程表示为一组适当选择的(组合)惯性参数的线性函数.以此为基础,针对系统惯性参数不确定的情况,设计了空间机械臂末端抓手跟踪惯性空间期望轨迹的鲁棒自适应混合控制方案.仿真运算结果证实了方法的有效性. 相似文献
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漂浮基柔性空间机械臂姿态与关节协调运动的Terminal滑模控制 总被引:2,自引:1,他引:1
讨论了载体位置无控、姿态受控情况下,具有外部扰动的漂浮基柔性空间机械臂载体姿态与各关节协调运动的控制问题.基于假想模态法、系统动量守恒关系及拉格朗日方法,建立了漂浮基柔性空间机械臂系统的动力学方程,并将其转化为系统控制状态方程.以此为基础,根据Terminal滑模控制技术,给出了系统相关Terminal滑模面的数学表达式,在此基础上提出了具有外部扰动情况下漂浮基柔性空间机械臂载体姿态与各关节协调运动的Terminal滑模控制方案.提出的控制方案不但确保了闭环系统滑模阶段的存在性,同时通过Terminal滑模函数的适当选取,还保证了输出误差在有限时间内的收敛性.此外,由于确保了无论何种情况下系统初始状态均在Terminal滑模面上,从而消除了其它滑模控制方法常有的到达阶段,使得闭环系统具有全局鲁棒和稳定性.一个平面两杆漂浮基柔性空间机械臂的系统数值仿真,证实了方法的有效性. 相似文献
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In this paper, both the closed-form dynamics and adaptive robust tracking control of a space robot with two-link flexible manipulators under unknown disturbances are developed. The dynamic model of the system is described with assumed modes approach and Lagrangian method. The flexible manipulators are represented as Euler–Bernoulli beams. Based on singular perturbation technique, the displacements/joint angles and flexible modes are modelled as slow and fast variables, respectively. A sliding mode control is designed for trajectories tracking of the slow subsystem under unknown but bounded disturbances, and an adaptive sliding mode control is derived for slow subsystem under unknown slowly time-varying disturbances. An optimal linear quadratic regulator method is proposed for the fast subsystem to damp out the vibrations of the flexible manipulators. Theoretical analysis validates the stability of the proposed composite controller. Numerical simulation results demonstrate the performance of the closed-loop flexible space robot system. 相似文献
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The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangian-assumed mode of formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applications. The final form of the equations is organized in a form similar to rigid manipulator equations. This allows one to identify the differences between rigid and flexible manipulator dynamics explixitly. Therefore, current knowledge on control of rigid manipulators is likely to be utilized in a maximum way in developing new control algorithms for flexible manipulators.
Computer automated symbolic expansion of the dynamic model equations for any desired manipulator is accomplished with programs written based on commercial symbolic manipulation programs (SMP, MACSYMA, REDUCE). A two-link manipulator is used as an example. Computational complexity involved in real-time control, using the explicit, non-recursive form of equations, is studied on single CPU and multi-CPU parallel computation processors. 相似文献
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In this paper, both the dynamics and noncollocated model‐free position control (NMPC) for a space robot with multi‐link flexible manipulators are developed. Using assumed modes approach to describe the flexible deformation, the dynamic model of the flexible space robotic system is derived with Lagrangian method to represent the system dynamic behaviors. Based on Lyapunov's direct method, the robust model‐free position control with noncollocated feedback is designed for position regulation of the space robot and vibration suppression of the flexible manipulators. The closed‐loop stability of the space robotic system can be guaranteed and the guideline of choosing noncollocated feedback is analyzed. The proposed control is easily implementable for flexible space robot with both uncertain complicated dynamic model and unknown system parameters, and all the control signals can be measured by sensors directly or obtained by a backward difference algorithm. Numerical simulations on a two‐link flexible space robot are provided to demonstrate the effectiveness of the proposed control. 相似文献
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This paper presents an experimental study of a robust control scheme for flexible-link robotic manipulators. The design is based on a simple strategy for trajectory tracking which exploits the two-time scale nature of the flexible part and the rigid part of the dynamic equations of this kind of robotic arms: A slow subsystem associated with the rigid motion dynamics and a fast subsystem associated with the flexible link dynamics. Two experimental approaches are considered. In a first test an LQR optimal design strategy is used, while a second design is based on a sliding-mode scheme. Experimental results on a laboratory two-dof flexible manipulator show that this composite approach achieves good closed-loop tracking properties for both design philosophies, which compare favorably with conventional rigid robot control schemes. 相似文献
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针对包含电机动态模型的移动机械臂系统,提出一种鲁棒自适应输出反馈控制方法.将误差符号函数鲁棒积分反馈与神经网络前馈结构相结合用于控制器的设计,然后利用神经网络去逼近机器人和电机系统的不确定项,设计鲁棒项实时补偿网络误差.通过Lyapunov稳定性分析证明闭环系统所有信号半全局一致有界.最后仿真实验表明,控制方法对系统动态不确定性和外界干扰有很好的鲁棒性,可实现移动机械臂的输出反馈跟踪控制. 相似文献
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Constrained motion control of flexible robot manipulators based on recurrent neural networks 总被引:2,自引:0,他引:2
Lianfang Tian Jun Wang Zongyuan Mao 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》2004,34(3):1541-1552
In this paper, a neural network approach is presented for the motion control of constrained flexible manipulators, where both the contact force everted by the flexible manipulator and the position of the end-effector contacting with a surface are controlled. The dynamic equations for vibration of flexible link and constrained force are derived. The developed control, scheme can adaptively estimate the underlying dynamics of the manipulator using recurrent neural networks (RNNs). Based on the error dynamics of a feedback controller, a learning rule for updating the connection weights of the adaptive RNN model is obtained. Local stability properties of the control system are discussed. Simulation results are elaborated on for both position and force trajectory tracking tasks in the presence of varying parameters and unknown dynamics, which show that the designed controller performs remarkably well. 相似文献