论文部分内容阅读
本文讨论了具有不确定系统参数的漂浮基空间机械臂系统的控制问题。由于载体的位置与姿态均不受控制,空间机械臂系统的控制方程失去了关于系统惯性参数的线性性质,给控制系统设计带来极大的困难。基于增广变量的思想,我们克服了上述难点,保持了控制方程关于系统惯性参数的线性关系;在此基础上,针对系统中机械臂参数不确定、载荷参数未知的情况,提出了关节空间轨迹追踪的鲁棒自适应控制方案,并应用Lya-punov直接方法对上述控制方案的渐近稳定性条件作了证明。提出的控制方案适用于空间站舱内机械手控制系统设计。仿真运算证实了该方法的有效性。
This article discusses the control of floating base space manipulator systems with uncertain system parameters. Since the position and attitude of the carrier are not controlled, the governing equations of the space manipulator system lose its linearity with respect to the inertial parameters of the system, which brings great difficulties to the control system design. Based on the idea of augmented variable, we overcome the above difficulties and maintain the linear relationship between the control equations and the inertial parameters of the system. On the basis of this, aiming at the uncertainty of the manipulator parameters and unknown load parameters in the system, Tracking robust adaptive control scheme, and the application of Lya-punov direct method to prove the asymptotic stability of the above control scheme conditions. The proposed control scheme is suitable for the design of manipulator control system in space station. Simulation shows that the method is effective.