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讨论了载体位置不受控制的漂浮基空间机械臂系统的控制问题。借助于增广变量法 ,恰当地扩展系统的控制输入与输出 ,克服了漂浮基空间机械臂系统控制方程关于惯性参数呈非线性函数关系的难点 ,保持了系统控制方程关于惯性参数的线性函数关系。以此为基础 ,针对末端抓手持有载荷参数未知与不确定两种情况 ,设计了载体姿态与机械臂关节协调运动的自适应控制与鲁棒控制两种方案。仿真运算证实了上述控制方案的有效性
The control problem of floating base space manipulator system with uncontrolled carrier location is discussed. By means of the augmented variable method, the control inputs and outputs of the system are properly extended, which overcomes the difficulty of nonlinear equations governing the inertial parameters of the control equations of the floating base space manipulator, and maintains the linear function of the system governing equations with respect to the inertial parameters . Based on this, two schemes of adaptive attitude control and robust control are designed, which are based on unknown and indefinite load parameters of end gripper. Simulation results confirm the effectiveness of the above control scheme