空间绳系机器人大角度姿态机动控制

Large Angle Attitude Maneuver Control for Tethered Space Robot

空间绳系机器人在非合作目标捕获/操作方面应用前景十分美好。研究绳系机器人优化控制问题,针对系绳干扰和大角度测量误差下的大角度姿态机动控制难题,建立包括运动学/动力学模型、执行机构模型、干扰模型的空间绳系机器人大角度姿态机动模型,并在Lyapunov原理的指导下,基于动态RBF神经网络理论和自适应控制理论设计了四元数反馈控制器,并进行仿真验证。仿真结果表明,机器人姿态机动速度快,稳态精度高,能够满足空间绳系机器人下一步操作的需求,为空间绳系机器人的精确操作提供了依据,为未来在轨服务技术的发展奠定理论基础。

Tethered space robot has a very bright future in the acquisition and operation for non-cooperative target.To solve the problem of large angle maneuver control under the interference of tether and the large angle measurement error,the complete maneuver model including the kinematic/dynamic model,the executing agency model and the interference model,was established in this paper.Under the guidance of the Lyapunov theory,the quaternion feedback controller was designed based on dynamic RBF neural network and adaptive control theory.The simulation shows that under the action of the control system,the maneuver is fast and the steady precision is ±3.5°,which can meet the needs of tethered space robot.It lays the foundation for precise operation of tethered space robot,which is the theoretical basis of our future on-orbit services.