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讨论了在空间机械臂关节控制输入力矩幅值受限且系统存在不确定参数的复杂情况下,载体位置与姿态均不受控的漂浮基空间机械臂系统的智能控制问题。结合系统动量守恒关系进行系统运动学、动力学分析,并借助增广变量法,将获得的系统动力学方程表示为一组适当选择的(组合)惯性参数的线性函数。以此为基础,针对关节控制输入力矩受限且空间机械臂末端爪手所持载荷的参数不确定的情况,设计了一种鲁棒自适应混合控制方法。所提出的控制方法通过运用连续可导递增函数,有效地限制了关节控制输入力矩的幅值;且通过对不确定的系统参数进行鲁棒自适应调节,有效地克服了不确定性对控制精度的影响;更重要的是,无论不确定参数的估计值是否超出给定的误差范围,提出的控制方法都能保证系统的稳定,体现了控制系统的强鲁棒性。仿真运算结果证实了该方法的有效性。
The problem of intelligent control of floating base space manipulator system with uncontrolled position and attitude of the manipulator is discussed in the complex case where the space manipulator joint control input torque amplitude is limited and the system has uncertain parameters. The system kinematics and dynamics analysis are carried out based on the conservation of momentum of the system. The augmented variable method is used to represent the obtained system dynamics equations as a linear function of a set of properly selected (combined) inertial parameters. Based on this, a robust adaptive hybrid control method is designed for the case that the input torque of joint control is limited and the parameters of the load held by the end claw of space manipulator are uncertain. The proposed control method effectively limits the magnitude of joint control input torque by using continuously derivably-propagated functions; and by robustly adjusting the uncertain system parameters adaptively, the uncertainty of control accuracy More importantly, the proposed control method can ensure the stability of the system, which shows the strong robustness of the control system, regardless of whether the estimation of the uncertain parameters exceeds a given error range. Simulation results confirm the effectiveness of this method.