双臂空间机器人基于高斯型函数的姿态、关节运动模糊自适应补偿控制

Fuzzy Adaptive Compensation Control for Space-based Robot System with Dual-arm Based on Gaussian-type Function to Track Trajectory in Joint Space

讨论了载体姿态受控、位置不受控情况下,具有未知载荷参数的漂浮基双臂空间机器人系统关节运动的控制问题。利用拉格朗日方法并结合系统动量守恒关系,分析、建立了漂浮基双臂空间机器人完全能控形式的系统动力学方程。以此为基础,针对双臂空间机器人2个末端爪手所持载荷参数未知的情况,设计了一种基于标称计算力矩控制器附加模糊自适应补偿控制器的复合控制方案,即通过模糊自适应补偿控制器来弥补系统参数未知对标称计算力矩控制器控制精度的影响,以确保存在未知系统参数情况下整个闭环控制系统的渐近稳定性。该控制方案能够有效地控制漂浮基双臂空间机器人的载体姿态及机械臂关节协调地完成期望的轨迹运动,并具有不需要反馈和测量双臂空间机器人载体的位置、移动速度、移动加速度,同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点。通过系统数值仿真证实了该方案的有效性。

This paper discussed control problem of dual--arms space--based robot system wltn unknown payload parameters to track desired trajectory in joint space, when the attitude of base was controlled and its location was uncontrolled. Combining the relationship of the linear momentum conversation and the Lagrange approach, the full--controlled dynamic equation of space--based robot system with dual--arms were analysed and established. Based on the above results, for the case of dual-arms space--based robot system with unknown payload parameters, a composite control scheme was designed by a computed torque controller and a fuzzy compensator to track desired trajectories in joint space, i. e. , balancing the effect of system unknown payload parameters on computed torque controller with fuzzy adaptive compensator, in order to ensure the whole closed--loop control system asymptotic stability with the existence of unknown payload parameters. The mentioned control scheme can effectively overcome the effect of system unknown payload parameters and control both the base attitude and the joints of dual--arms space--based robot, so that they can track the desired trajectory in joint space, with obvious advantages neither the mentioned control scheme needs to measure and feedback the position, velocity and acceleration of the floating base, nor the mentioned control scheme needs to require for dynamic equations of the system inertial parameters in linear function. The simulation results show that the proposed control scheme is feasible and effective.