陈志勇, 陈 力. 具有外部扰动及不确定载荷参数双臂空间机器人的拟增广鲁棒与自适应混合控制[J]. 工程力学, 2010, 27(12): 27-033.
引用本文: 陈志勇, 陈 力. 具有外部扰动及不确定载荷参数双臂空间机器人的拟增广鲁棒与自适应混合控制[J]. 工程力学, 2010, 27(12): 27-033.
CHEN Zhi-yong, CHEN Li. ROBUST-ADAPTIVE COMBINED CONTROL FOR DUAL-ARM SPACE ROBOT WITH EXTERNAL DISTURBANCES AND UNCERTAIN PARAMETERS[J]. Engineering Mechanics, 2010, 27(12): 27-033.
Citation: CHEN Zhi-yong, CHEN Li. ROBUST-ADAPTIVE COMBINED CONTROL FOR DUAL-ARM SPACE ROBOT WITH EXTERNAL DISTURBANCES AND UNCERTAIN PARAMETERS[J]. Engineering Mechanics, 2010, 27(12): 27-033.

具有外部扰动及不确定载荷参数双臂空间机器人的拟增广鲁棒与自适应混合控制

ROBUST-ADAPTIVE COMBINED CONTROL FOR DUAL-ARM SPACE ROBOT WITH EXTERNAL DISTURBANCES AND UNCERTAIN PARAMETERS

  • 摘要: 研究载体位置与姿态均不受控制的漂浮基双臂空间机器人系统的控制问题。为了保持系统控制方程关于惯性参数的线性性质,漂浮基双臂空间机器人系统的动力学方程被描述为欠驱动形式。对系统的动力学分析表明,基于增广变量法所得到的系统增广广义Jacobi矩阵亦可以表示为一组适当选择的惯性参数的线性函数。在此基础上,针对系统既存在有外部扰动且两机械臂末端爪手所持载荷参数又具有不确定性的复杂情况,设计了漂浮基双臂空间机器人惯性空间轨迹跟踪的拟增广鲁棒与自适应混合控制方案。与自适应控制方法相比,所提控制方案化大量积分运算为简单的加减乘除四则运算,因此大大减少了计算量,非常适用于机载计算机运算能力有限的空间机器人控制系统的实时、在线应用。仿真运算证实了方法的有效性。

     

    Abstract: The control problem of free-floating space robot system with dual-arm is studied. The dynamic equations of the system are formulated by the under-actuated form to guarantee that they can be linearly parameterized. With the augmentation approach, the dynamics of the system is analyzed and the augmented generalized Jacobi matrix of the system can also be linearly dependent on a group of inertial parameters. Based on the results, a robust-adaptive combined control scheme is developed for dual-arm space robot system with external disturbances and uncertain payload parameters to track the desired trajectories in inertial space. Comparing with the adaptive control, the control scheme proposed can effectively reduce the calculation time, because it can transfer many integral operations into four arithmetic operations. Therefore, it is suitable for real-time and on-line applications in space-based robot system. The simulation results verify the proposed control scheme.

     

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