控制力矩受限情况下漂浮基空间机械臂基于饱和速度滤波器的自适应控制方法

Adaptive Control Based on Saturated Velocity Filter for Space-based Manipulator System With Bounded Control Torques

讨论了控制力矩受限且系统参数不确定情况下,载体位置不受控、姿态受控的漂浮基空间机械臂系统的智能控制问题.运用系统动量守恒关系和拉格朗日方程建立系统的动力学方程.针对控制力矩受限和机械臂末端爪手所抓持的载荷参数不确定的情况,设计了一种基于饱和速度滤波器的自适应控制方法.该控制方法运用自适应调节规律有效地克服了系统不确定参数对控制精度的影响;运用双曲函数限制控制力矩的幅值大小,使其更符合空间实际的要求.此外,速度滤波器的运用使得在控制过程中不需要测量和反馈系统的速度信号,从而使得控制更加简单易行.仿真结果证明了所提出控制方法的有效性.

The intelligent control problem of space-based manipulator system with bounded control torques and uncertain parameters is studied. According to the system＇s momentum conservation and Lagrange＇s equation, the system＇s dynamics equation is established. An adaptive control based on saturated velocity filter for space-based manipulator system with bounded control torques and uncertain payload parameters is developed. The proposed control scheme overcomes the influence of the uncertain parameters on the control accuracy by using adaptive controller; limits the control torques by using hyperbolic functions, which lets the control more realistic. And in the control process, it doesn＇t need to measure and feed back the system＇s velocity signal by using the velocity filter, which makes the control simpler. The simulation validates the effectiveness of the proposed control scheme.