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讨论了载体位置不受控、姿态受控情况下,参数未知漂浮基柔性空间机械臂关节空间协调运动的轨迹跟踪控制问题。依据系统动量守恒关系和拉格朗日第二类方程,由假设模态法,建立了漂浮基柔性空间机械臂的系统动力学方程。以此为基础,针对系统参数未知的情况,设计了一种小波基模糊神经网络的控制方案,以使柔性空间机械臂的载体姿态到达期望位置的同时,机械臂关节铰能够协调地跟踪关节空间的期望轨迹。该方案具有无需预知柔性空间机械臂的模型和系统参数的优点,且网络权值是通过在线学习进行调整,节省了离线训练的时间。系统的数值仿真表明了所提出方案的有效性和可行性。
The trajectory tracking control problem of joint space motion of floating-base flexible space manipulator with unknown parameters under uncontrolled and controlled attitude is discussed. Based on the system of conservation of momentum and Lagrange’s second type of equations, the system dynamics of a flexible space manipulator with floating bases is established by the hypothetical modal method. Based on this, a control scheme of wavelet-based fuzzy neural network is designed to solve the unknown system parameters so that the attitude of the flexible space manipulator reaches the desired position and the articulated joints of the manipulator can coordinately track the joint space The desired trajectory. The scheme has the advantages of no need to predict the model and system parameters of the flexible space manipulator, and the network weights are adjusted through online learning, which saves the time for offline training. The numerical simulation of the system shows the effectiveness and feasibility of the proposed scheme.