漂浮基柔性关节空间机器人奇异摄动鲁棒控制

Singular Perturbation Robust Control of Free-Floating Flexible-Joint Space Robot

研究了参数不确定的漂浮基柔性关节空间机器人的动力学建模和运动控制问题。结合系统动量、动量矩守恒关系和拉格朗日方程求解出漂浮基柔性关节空间机器人系统的动力学方程。为了同时实现漂浮基柔性关节空间机器人运动轨迹的渐近跟踪和系统振动的抑制,利用奇异摄动法建立系统的奇异摄动模型。针对表示系统刚性部分的慢变子系统,提出一种鲁棒控制方法来补偿系统的角度变形误差和参数不确定性,保证柔性关节空间机器人运动轨迹的渐进跟踪。针对表示系统弹性振动部分的快变子系统设计了速度反馈控制方法来抑制柔性关节引起的振动,保证系统的稳定。数值仿真结果证明了所提出方法的有效性。

The dynamics modeling and motion control problem of free-floating flexible-joint space robot with uncertain parameters are studied.Combining the system momentum conservation,angular momentum conservation and the Lagrange equation,the dynamic equations of the system are solved.In order to realize the trajectory tracking and vibration suppression,the system singular perturbation model is established according to singular perturbation theory.A robust controller is proposed for the slow subsystem to compensate the angle deformation errors and uncertain parameters,and to guarantee the asymptotic tracking of the motion trajectory.While a velocity feedback controller is proposed for the fast subsystem to suppress the vibration,and to guarantee the system stability.The simulation results prove the efficiency of the proposed control scheme.