摘要
针对由谐波减速器驱动的空间机器人柔性关节的精确轨迹跟踪问题,提出了一种由自适应模糊系统和逐步逆向设计相结合的递阶控制方法,不仅有效地消除了模型不确定性的影响,而且避免了复杂的求导运算和角加速度可测的要求;推导了自适应模糊系统模糊规则参数调整的自适应律,证明了闭环系统的稳定性和跟踪误差的渐进收敛;在柔性关节测试平台上进行了轨迹跟踪实验,试验结果表明该方法具有较高的轨迹控制精度和鲁棒性。
A method of adaptive fuzzy compensation and backstepping control was proposed for the trajectory tracking precision of space robot flexible-joint. Two adaptive fuzzy systems were adopted to compensate the unknown uncertainties, and void the measurement of joint acceleration. The adaptive laws of fuzzy rules were induced based on Laypunov theorem, and the stability and the convergence of tracking error were testified. Experiment on the flexible-joint test table demonstrate that trajectory tracking error is less than 0.18° with 3Nm load disturbance, and this method has high precision and good robustness.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2008年第6期1865-1870,共6页
Journal of Astronautics
基金
教育部重大项目(307005)
