带滑移铰空间机器人惯性空间轨迹跟踪的鲁棒混合自适应控制

ROBUST AND ADAPTIVE COMPOSITE CONTROL OF SPACE ROBOT SYSTEM WITH PRISMATIC JOINTS

讨论了载体位置与姿态均不受控制的带滑移铰空间机器人的控制问题。为了克服空间机器人系统控制方程关于惯性参数的非线性性质,空间机器人被表示为欠驱动形式的机器人系统,其优点在于保持了系统动力学方程关于惯性参数的线性性质。对系统的运动学分析表明,联系机械手末端运动速度与机器人关节角速度的增广广义Jacobi关系,亦可以表示为一组惯性参数的线性函数。以此为基础,针对系统参数不确定的情况,设计了空间机器人跟踪惯性空间期望运动轨迹的鲁棒混合自适应控制方案。由于在上述系统运动学、动力学分析中耦合了系统动量守恒关系,提到的控制方案具有不需要测量、反馈空间机器人载体位置及移动的速度、加速度的优点;此外,由于上述控制方案仅在参考速度、加速度的计算中采取了参数调节方式,而在控制部分对不确定参数采用了保持鲁棒性的方法,有效地减少了计算量,有助于缓解机载计算机运算能力有限的矛盾。仿真运算,证实了方法的有效性。

The control problem of free-floating space robot system with prismatic joints was studied. In order to overcome the difficulty that the dynamic equation of the system could not be linearly parameterized, the space robot system was modeled as an under-actuated robot system. Thus, the system dynamic equation can be linearly parameterized. With the momentum conservation of the system, the kinematics of the system was analyzed, and it is shown that the generalized Jacobi matrix can also be linearly dependent on a group of inertial parameters. Based on the results proposed above, a robust and adaptive composite control scheme for the end-effector to track the desired trajectory in inertia space was proposed. The control scheme avoids measuring the position, velocity and acceleration of the base with respect to the orbit, because of an effective exploitation of the particular property of the system dynamics. Besides, the proposed control scheme is simple for computing, because the controller is robust to the uncertain inertial parameters. The control scheme is verified in a simulation study.