任务空间内空间机器人的鲁棒复合自适应控制
摘要
对于本体姿态受控而位置不受控的空间机器人系统,其任务空间内自适应控制的难点在于系统的Jacobian矩阵与系统的动力学参数有关,因此当系统存在参数不确定性时,无法通过运动学关系式将任务空间轨迹精确地转换为关节空间轨迹。为解决任务空间内的轨迹跟踪操作任务,本文提出了一种鲁棒复合自适应控制方法,证明了当系统存在参数不确定性及非参数不确定性(包括扰动、未建模动态)时,这种方法可以保证系统全局一致最终有界。仿真结果验证了算法的有效性。
引文
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3 Wang Jing and Liu Liangdong,“The kinematic model of free-flying space robot,” 14th International Federation of Automatic Control,Beijing,P.R.China,1999,P:635-639
4 王景,刘良栋.双臂空间空间机器人利用内部运动的姿态控制.宇航学报.Vol.21,No.1． 2000,PP:28-35
5 Walker M.W.and Wee L.B.,“Adaptive control of space-based robot manipulators,” IEEE Transactions on Robotics and Automation,Vol.7,No.6,1991,pp:828-835
6 Wee L.B.,Walker M.W.and McClamroch N.H.,“An articulated-body model for a free-flying robot and its use for adaptive motion control,” IEEE Transactions on Robotics and Automation,Vol.13,No.2,1997,pp:264-277
7 Xu Y.,Shum H.Y.,Kanade T.and Lee J.J.,“Pararneterization and adaptive control of space robot syaterns,” IEEE Transactions on Aerospace and Electronic Systems,Vol.30,No,2． 1994,pp:435-451
8 马保离,霍伟.空间机器人系统的自适应控制.控制理论及应用.Vol.13,No.2,1996． PP:191-197
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10 王景,刘良栋,梁斌.任务空间内空间机械臂的一种鲁棒复合自适应控制.航天控制.Vol.18,No.69,2000,PP:37-43
11 Qu Z.,Dawson D.,Dorsey J.,A New Class of Robust Control Laws for Tracking of Robots,The International Journal of Robotics Research,Vol.13,No.4,1994,pp:355-363
2 Dubowsky S.and Papadopoulos E.,“The kinematics,dynamics and control of free-flying and free-floating space robotic system”,IEEE Transactions on Robotics and Automation,Vol.9,No.5,1993,pp:531-543
3 Wang Jing and Liu Liangdong,“The kinematic model of free-flying space robot,” 14th International Federation of Automatic Control,Beijing,P.R.China,1999,P:635-639
4 王景,刘良栋.双臂空间空间机器人利用内部运动的姿态控制.宇航学报.Vol.21,No.1． 2000,PP:28-35
5 Walker M.W.and Wee L.B.,“Adaptive control of space-based robot manipulators,” IEEE Transactions on Robotics and Automation,Vol.7,No.6,1991,pp:828-835
6 Wee L.B.,Walker M.W.and McClamroch N.H.,“An articulated-body model for a free-flying robot and its use for adaptive motion control,” IEEE Transactions on Robotics and Automation,Vol.13,No.2,1997,pp:264-277
7 Xu Y.,Shum H.Y.,Kanade T.and Lee J.J.,“Pararneterization and adaptive control of space robot syaterns,” IEEE Transactions on Aerospace and Electronic Systems,Vol.30,No,2． 1994,pp:435-451
8 马保离,霍伟.空间机器人系统的自适应控制.控制理论及应用.Vol.13,No.2,1996． PP:191-197
9 Slotine J.J.E.and Li W.,“Composite adaptive control of robot manipulators”,Automatic,Vol.25,No.4,1989,pp:509-519
10 王景,刘良栋,梁斌.任务空间内空间机械臂的一种鲁棒复合自适应控制.航天控制.Vol.18,No.69,2000,PP:37-43
11 Qu Z.,Dawson D.,Dorsey J.,A New Class of Robust Control Laws for Tracking of Robots,The International Journal of Robotics Research,Vol.13,No.4,1994,pp:355-363
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