双臂空间机器人协调运动的模糊基函数网络控制

该文研究了在本体位置不受控、姿态受控的情况下,漂浮基双臂空间机器人系统惯性空间协调运动的轨迹跟踪问题。针对存在外部扰动和未知系统惯性参数的情况,设计了一种基于模糊基函数网络的自适应调节控制方案。用模糊基函数网络对双臂空间机器人系统建模,利用鲁棒技术处理建模误差和外部扰动在内的不确定性。所提控制方案的特点是:不需要动力学方程中的惯性参数符合线性规律,也无需预知系统的惯性参数;同时可以利用学习规则在线自适应调节模糊基函数网络的所有权值和参数,因此控制方案是灵活的。该文稳定性分析证明了控制方案的全局稳定性和良好的轨迹跟踪性能。仿真算例表明了该方案能有效地控制双臂空间机器人的本体姿态和末端爪手协调地跟踪期望的运动轨迹。

FUZZY BASIS FUNCTION NETWORK CONTROL FOR COORDINATED MOTION OF A DUAL-ARM SPACE ROBOT

The tracking control for coordinated motion of a free-floating dual-arm space robot system in task space is developed.Aiming at the case that external disturbances exist and system inertial parameters are unknown,an adaptive tuning control scheme based on a fuzzy basis function(FBF) network is designed.A fuzzy basis function network is used to build the unknown dynamic model of dual-arm space robot and a robust technique is applied to deal with uncertainties associated with modeling errors and external disturbances.The control scheme needs neither to linearly parameterize the dynamic equations of the system,nor to require a priori knowledge of system inertial parameters.Meanwhile,all weights and parameters of the FBF network can be adaptively tuned online with a learning rule,and consequently the control scheme is flexible.Stability analysis guarantees global stability and tracking performance.A simulation example illustrates that the proposed control scheme can effectively control the base’s attitude,and the end-effector of the dual-arm space robot is able to track desired trajectories synchronously.