基于变论域模糊补偿的空间机器人自适应控制

Adaptive Control of Space Robot Based on Variable Universe Fuzzy Compensation

相比地面环境,太空环境中机器人系统暴露在宇宙射线中更容易受到外部干扰,且因难以维护和燃料消耗等原因带来的质量和惯性等系统参数变化使得其更容易存在系统不确定性。针对载体位置不受控的漂浮基空间机器人系统存在系统不确定性和外部干扰的问题,提出了一种基于变论域模糊控制的轨迹跟踪控制方法。在使用计算力矩控制器求解标称系统控制力矩的基础上,使用变论域模糊控制对系统不确定性和外界干扰带来的误差进行补偿。论域范围的实时变化使变论域模糊控制可以适用于不同时刻的不同误差范围,从而有效提高了系统的响应速度,减小了系统的稳态跟踪误差。最后通过李雅普诺夫方法证明控制方案的稳定性,并通过数值仿真证明了控制方法的有效性。

Compared with the ground environment,the robot system exposed to cosmic rays in space environment is more susceptible to external interference,and the system parameter changes such as mass and inertia caused by difficult maintenance and fuel consumption make it more prone to system uncertainty.Aiming at the problems of system uncertainty and external interference in a floating space robot system with uncontrolled carrier position,a trajectory tracking control method based on variable universe fuzzy control is proposed.On the basis of calculating torque controller to solve the nominal system control torque,the variable universe adaptive fuzzy controller is used to compensate the errors caused by the system uncertainty and external interference.The real-time change of the scope of the variable domain makes the fuzzy controller applicable to different error ranges at different time,thus effectively improving the response speed of the system and reducing the steady-state tracking error of the system.Finally,the stability of the control scheme is proved by Lyapunov method,and the effectiveness of the control method is proved by numerical simulation.