空间服务机器人自适应递归控制

Spatial Service Robot Adaptive Recursive Control

太空垃圾是对所有的空间航天器的重大威胁,空间在轨服务技术是解决这个问题的一种潜在方法。空间机器人的控制方法是在轨服务的一项关键技术。研究了一种工作在自由飞行模式下的空间机器人的控制技术,该空间机器人装有多个机械臂。假设空间机器人的精确动力学模型参数未知,为解决这个问题,提出了一种自适应空间机器人控制器,并分析了采用此控制器时系统的收敛性。为提高计算效率,进一步给出了控制器的递归形式。最后给出了一个仿真算例,证明了控制器的正确性和有效性。

Space debris is a major threat to all spacecraft.Space-orbit service technology is a potential method to solve this problem.The control method of space robots is a key technology in on-orbit service.A control technique of a space robot working in a free flight mode was studied.The space robot was equipped with a plurality of robot arms.Assuming that the precise dynamic model parameters of the space robot are unknown,in order to solve this problem,an adaptive space robot controller is proposed and the convergence of the system is analyzed.In order to improve the computational efficiency,the recursive form of the controller is further given.Finally,a simulation example is given to prove the correctness and effectiveness of the controller.