空间机器人鲁棒复合自适应控制

Composite Adaptive Robust Control of Space Robot Systems

空间机器人系统由于燃料的消耗、操作未知或不确知负载以及动力学参数很难确知等因素,存在参数不确定性,又由于重力梯度力矩、气动力矩、太阳光压、关节摩擦和外界扰动等因素,还存在非参数不确定性。为了解决带有不确定性空间机器人系统的控制问题,针对存在参数不确定性和非参数不确定性的单臂空间机器人系统,建立了系统地动力学模型,研究了空间机器人轨迹跟踪鲁棒复合自适应控制策略,从系统稳定性的角度出发,利用李雅普诺夫函数设计了鲁棒复合自适应控制器,并用其完成了轨迹跟踪的仿真,通过仿真验证了控制器的有效性,给出了仿真结果。所提出的控制策略有效解决了空间机器人完成在轨任务过程中的参数不确定性和非参数不确定性控制问题。

There are parametric uncertainties and non-parametric uncertainties in the space robot system due to different factor,for example consumption of fuel,capture of unknown target,unknown of dynamic parameters,torque of gravity gradient,light pressure of sun,torque for atmospheric drag,friction torque of joint,disturb of environment, etc.To solve the control problem of space robot system with uncertainties,the system dynamics model is deduced,an composite adaptive robust controller is designed by lyapunov function,the system stability is analysised.The trajectory tracking of 2-dof space robot system is implemented.The simulation results show the effectiveness of the designed controller.