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针对自由漂浮空间机器人系统惯性参数不确定问题,提出一种笛卡儿空间内的自适应轨迹跟踪控制方法。采用扩展机械臂模型建立了自由漂浮空间机器人关节空间动力学方程,进而推导笛卡儿空间中的自由漂浮空间机器人动力学方程。在基于逆动力学法的自由漂浮空间机器人自适应控制器设计中,利用标称控制器离线固定控制参数与补偿控制器在线补偿方法,既可以保证惯量矩阵可逆,又可以使控制参数实时估计。采用Lyapunov方法的稳定性分析表明系统是稳定且渐进收敛的。最后,应用该控制方法对两杆平面自由漂浮空间机器人进行了仿真研究。仿真结果显示自由漂浮空间机器人末端执行器在笛卡儿空间具有良好的轨迹跟踪能力。
In order to solve the problem of inertial parameter uncertainty of free floating space robotic system, an adaptive trajectory tracking control method in Cartesian space is proposed. The extended robot model is used to establish the joint space dynamic equation of the free-floating space robot, and then the dynamics equation of the free-floating space robot in Cartesian space is deduced. In the design of adaptive controller of free-floating space robots based on inverse dynamical method, by using the nominal controller off-line fixed control parameters and the compensation controller online compensation method, the inertia matrix can be guaranteed to be reversible and the control parameters can be estimated in real time. The stability analysis using Lyapunov method shows that the system is stable and asymptotically convergent. Finally, this control method is used to simulate two-plane free-floating space robot. The simulation results show that the free-floating space robot end-effector has good trajectory tracking ability in Cartesian space.