柔性空间机械臂系统的模糊滑模神经网络控制及柔性振动主动抑制

Fuzzy Neural Networks Sliding Mode Control and Active Vibration Suppression for Free-floating Space Flexible Manipulator

研究了参数不确定漂浮基柔性空间机械臂关节空间的轨迹跟踪及柔性振动主动控制问题.运用虚拟力概念,生成能同时反映柔性振动和刚性运动的虚拟期望轨迹,设计了一种自适应非奇异Terminal滑模控制器来跟踪该虚拟期望轨迹,以实现载体姿态及关节稳定跟踪运动轨迹并对所产生的柔性振动进行主动抑制的控制目标.所设计的控制器结合了Terminal滑模控制快速收敛性,模糊小波神经网络优良的函数逼近特性及鲁棒技术处理逼近误差的优势,利用自适应算法在线自适应调节模糊小波神经网络的所有网络权值和参数,使控制器具有很强的鲁棒性.仿真实验证明了所提控制方案的有效性.

This paper discusses the trajectory tracking and vibration suppression of free-floating flexible space manipulator with uncertain system parameters. The conception of virtual control force is used to design a virtual desired trajectory which reflects both flexible vibration and rigid motion. Then, in order to steadily track the trajectories of the base＇s attitude and the joint angle, the adaptive non-singular terminal sliding mode controller is proposed to track the desired trajectory. The controller integrates the advantages of terminal sliding mode technique, Fuzzy Wavelet Neural Network （FWNN） with good function approximation characteristic and robust control technologyto process approximate error. In addition, adaptive algorithm is adopted for fuzzy wavelet neural network to adaptively adjust its all network weights and parameters so the controller has strong robustness. Simulation results are given to illustrate the effectiveness of the proposed control scheme.