柔性基和柔性关节空间机器人双重自适应控制
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摘要
为实现参数未知柔性基和柔性关节空间机器人的刚性运动控制及柔性振动抑制,提出一种基于非确定性等价原理的双重自适应控制方案.结合拉格朗日法、动量守恒原理及奇异摄动法,导出基座姿态受控模式下的系统动力学方程及其在双时间尺度下的快、慢变子系统.利用一类新型低通滤波信号对系统回归矩阵进行修正,针对慢变子系统设计一种可多参数调节的非确定性等价自适应控制策略,以实现参数未知工况下基座姿态及关节的轨迹跟踪.针对具有不确定性快变子系统,设计一种可使快变子系统渐近稳定、抑制基座和关节柔性振动的自适应控制策略.仿真结果验证了所提双重自适应控制方案在系统刚、柔性运动控制上的有效性.
To realize the rigid motion control and flexible vibration suppression of flexible-base flexible-joint space robot with unknown parameters,a dual-adaptive control scheme based on the non-certainty equivalence principle was proposed.Applying the Lagrange method,the momentum conservation principle and the singular perturbation method,the system dynamic equations and its corresponding slow and fast subsystems in two-time scale were derived when the base was in the attitude-controlled operation mode. A new type of low-pass filter signal was utilized to modify the regression matrix of system, and then a non-certainty equivalence adaptive control strategy with adjustable multiple parameters was designed for the slow subsystem to accomplish trajectory tracking of the base's attitude and joints of robot with unknown parameters.For the uncertain fast subsystem,an adaptive control was presented to ensure the asymptotic stability of the fast subsystem and suppress the flexible vibration of the base and joints.The simulation results demonstrate the effectiveness of the dual-adaptive scheme in the rigid and flexible motion control of the system.
To realize the rigid motion control and flexible vibration suppression of flexible-base flexible-joint space robot with unknown parameters,a dual-adaptive control scheme based on the non-certainty equivalence principle was proposed.Applying the Lagrange method,the momentum conservation principle and the singular perturbation method,the system dynamic equations and its corresponding slow and fast subsystems in two-time scale were derived when the base was in the attitude-controlled operation mode. A new type of low-pass filter signal was utilized to modify the regression matrix of system, and then a non-certainty equivalence adaptive control strategy with adjustable multiple parameters was designed for the slow subsystem to accomplish trajectory tracking of the base's attitude and joints of robot with unknown parameters.For the uncertain fast subsystem,an adaptive control was presented to ensure the asymptotic stability of the fast subsystem and suppress the flexible vibration of the base and joints.The simulation results demonstrate the effectiveness of the dual-adaptive scheme in the rigid and flexible motion control of the system.
引文
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[12] CHEN Z Y,ZHANG T T,LI Z H.Hybrid control scheme consisting of adaptive and optimal controllers for flexiblebase flexible-joint space manipulator with uncertain parameters[C]//Proceedings of the 9th International Conference on Intelligent Human-Machine Systems and Cybernetics.Hangzhou:IEEE,2017:341-345.
[13] YU X Y. Augmented robust control of a free-floating flexible space robot[J].Journal of Aerospace Engineering,2015,229(5):947-957.
[14] SEO D,AKELLA M R.Non-certainty equivalent adaptive control for robot manipulator systems[J]. Systems&Control Letters,2009,58:304-308.
[15] ROMEO O,LIU H,ALESSANDRO A.Immersion and invariance adaptive control of linear multivariable systems[J].Systems&Control Letters,2003,49:37-47.
[16] JIA S Y,JIA Y H,XU S J,et al.Maneuver and active vibration suppression of free-flying space robot[J].IEEE Transactions on Aerospace and Electronic Systems,2018,54(3):1115-1134.
[2] YOSHIDA K.Achievements in space robotics[J].IEEE Robotics and Automation Magazine,2009,16(4):20-28.
[3] ABDUL H,MITHUN P,ANURAG V V,et al.Reactionless visual servoing of a multi-arm space robot combined with other manipulation tasks[J].Robotics and Autonomous Systems,2017,91:1-10.
[4] SABATINI M,GASBARRI P,MONTI R,et al.Vibration control of a flexible space manipulator during on orbit operations[J].Acta Astronautica,2012,73:109-121.
[5] MUROTSU Y,TSUJIO S,SENDA K,et al.Trajectory control of flexible manipulators on a free-flying space robot[J].IEEE Control Systems Magazine,1992,12(3):51-57.
[6]董楸煌,陈力.空间机械臂捕获操作过程的神经网络镇定控制[J].华中科技大学学报:自然科学版,2015,43(3):22-27.
[7] NANOS K,PAPADOPOULOS E G.On the dynamics and control of flexible joint space manipulators[J]. Control Engineering Practice,2015,45:230-243.
[8]陈志勇,陈力.带有柔性补偿的柔性关节空间机器人的增广自适应控制及关节振动抑制[J].宇航学报,2013,34(12):1599-1604.
[9] GEORGE L E,BOOK W J.Inertial vibration damping of a flexible base manipulator[J]. JSME International Journal,Series C:Mechanical Systems,Machine Elements and Manufacturing,2003,46(3):798-806.
[10] SALEHI M,VOSSOUGHI G R.High-precision impedance control method for flexible base moving manipulators[J].Advanced Robotics,2009,23(1/2):65-87.
[11] YANG B J,CALISE A J,CRAIG J I.Adaptive output feedback control of a flexible base manipulator[J].Journal of Guidance Control&Dynamics,2007,30(4):1068-1080.
[12] CHEN Z Y,ZHANG T T,LI Z H.Hybrid control scheme consisting of adaptive and optimal controllers for flexiblebase flexible-joint space manipulator with uncertain parameters[C]//Proceedings of the 9th International Conference on Intelligent Human-Machine Systems and Cybernetics.Hangzhou:IEEE,2017:341-345.
[13] YU X Y. Augmented robust control of a free-floating flexible space robot[J].Journal of Aerospace Engineering,2015,229(5):947-957.
[14] SEO D,AKELLA M R.Non-certainty equivalent adaptive control for robot manipulator systems[J]. Systems&Control Letters,2009,58:304-308.
[15] ROMEO O,LIU H,ALESSANDRO A.Immersion and invariance adaptive control of linear multivariable systems[J].Systems&Control Letters,2003,49:37-47.
[16] JIA S Y,JIA Y H,XU S J,et al.Maneuver and active vibration suppression of free-flying space robot[J].IEEE Transactions on Aerospace and Electronic Systems,2018,54(3):1115-1134.