输入力矩受限情况下漂浮基空间机械臂的鲁棒自适应混合控制

讨论了在空间机械臂关节控制输入力矩幅值受限且系统存在不确定参数的复杂情况下，载体位置与姿态均不受控的漂浮基空间机械臂系统的智能控制问题。结合系统动量守恒关系进行系统运动学、动力学分析，并借助增广变量法，将获得的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，针对关节控制输入力矩受限且空间机械臂末端爪手所持载荷的参数不确定的情况，设计了一种鲁棒自适应混合控制方法。所提出的控制方法通过运用连续可导递增函数，有效地限制了关节控制输入力矩的幅值；且通过对不确定的系统参数进行鲁棒自适应调节，有效地克服了不确定性对控制精度的影响；更重要的是，无论不确定参数的估计值是否超出给定的误差范围，提出的控制方法都能保证系统的稳定，体现了控制系统的强鲁棒性。仿真运算结果证实了该方法的有效性。

ROBUST AND ADAPTIVE COMPOSITE CONTROL OF SPACE MANIPULATOR SYSTEM WITH BOUNDED TORQUE INPUTS

The intelligent control problem of a free-floating space manipulator system with bounded torque inputs and uncertain parameters is discussed. The kinematics and dynamics of the system are analyzed by use of momentum conservation. With the idea of an augmentation approach, the dynamic equations can be linearly dependent on a group of inertial parameters. Base on the results, a robust and adaptive composite control scheme for a free-floating space robot system with bounded torque inputs and uncertain parameters is developed. The proposed control scheme can effectively limit the input torques using the continuous differentiable increasing functions, and overcome the uncertain influence on control accuracy using robust and adaptive adjustment. Moreover, the control scheme can guarantee the stability of the system, regardless of whether the parameter-region is precise or not. That reflects the stronger robustness. The simulation results show the efficiency of the control scheme.