空间机械臂姿态运动规划的粒子群方法

Attitude optimal control of the space manipulator using particle swarm optimization

空间自由漂浮的航天器系统在忽略外力矩的作用时,系统因对总质心的角动量矩守恒而成为非完整系统。基于这样的特性,讨论了带双臂航天器姿态运动的控制问题。利用粒子群算法确定最优控制输入信号,得到了系统非完整运动的优化轨迹。通过数值仿真,表明该算法解决空间机械臂非完整运动规划问题是有效的。

Due to the total angular momentum conservation to the system centre of mass, the free-drifting spacecraft system becomes a nonholonomic one without considering the external forces moment acting on it. Based on the character, the attitude control problem of the spacecraft with two manipulators is discussed in the paper. By using PSO method, the optimal control input signal is obtained and the optimal trajectory of the nonholonomic motion planning can be found. The effectiveness of the numerical algorithm is demonstrated in dealing with the nonholonomic motion planning of the space manipulator by numerical simulation.