摘要
对于本体姿态受控而位置不受控的空间机械臂系统 ,考虑存在参数不确定性及非参数不确定性 (包括扰动、未建模动态 ) ,本文在任务空间内提出了一种鲁棒复合自适应控制方法 ,证明了这种方法可以保证末端执行器在任务空间内的位置轨迹跟踪误差、关节空间内的角偏差和角偏差速率渐近收敛。
In the presence of parameter uncertainties and non-parameter uncertainties, including disturbances and unmodeled dynamics, this paper presents a composite robust adaptive control algorithm in task space for the space manipulator with an attitude-controlled base. The stability of the control system and the convergent properties of the position tracking errors in task space, the joint angular errors and the joint angular rate errors in joint space are also analyzed. Simulation result confirms the effectiveness of the algorithm.
出处
《航天控制》
CSCD
北大核心
2000年第1期37-43,76,共8页
Aerospace Control
基金
国家863计划航天领域的资助
