空间机器人姿态与末端抓手协调运动的鲁棒自适应控制

本文讨论了载体姿态受控、位置不受控制的漂浮基空间机器人协调运动的控制问题。借助于虚拟扩展系统的输入与输出,得到了一组关于惯性参数呈线性函数关系的系统控制方程。以此为基础,针对空间机器人系统中不确定参数与未知参数并存的复杂情况,设计了载体姿态与末端抓手惯性空间轨迹协调运动的鲁棒自适应控制方案。利用两杆空间机器人系统进行了系统仿真运算,仿真结果证实了上述控制方案的有效性。由于对系统待估计参数作了分类,并充分利用系统信息对系统不确定参数采用保持鲁棒性而不是在线估计的方法,提到的控制方案具有计算量小的优点,有助于缓解机载计算机运算能力有限的矛盾。

THE ROBUST ADAPTIVE CONTROL OF COORDINATED MOTION OF SPACE-BASED ROBOT SYSTEM

In this paper, the control of coordinated motion of spacecraft attitude and the end-effector of a free-floating space-based robot system is discussed. The dynamics of the system is analyzed. It is shown that the augmented generalized Jacobian matrix and the dynamic equations of the system are linearly dependent on inertial parameters. Based on the results, the robust adaptive control scheme of coordinated motion of spacecraft attitude and the desired trajectory in workspace of its end-effector is proposed, and a two-link planar space-based robot system is simulated to verify the proposed control scheme. The control scheme is shown to be computationally simple since the controller is made robust to the uncertain inertial parameters and online evaluation is made unnecessary.