电光与控制, 2018, 25 (10): 24, 网络出版: 2021-01-15  

空间机器人全局逼近收敛控制

Global Approximation Convergence Control for Space Robot
作者单位
四川大学电气信息学院, 成都 610065
摘要
针对自由漂浮空间机器人系统, 设计了一种全局逼近收敛控制器, 解决了存在初始状态误差及外界干扰条件下的系统鲁棒性问题。首先, 根据空间机器人系统的状态空间方程设计控制器, 该控制器将控制输出特性与控制增益隔离开, 对系统模型的不确定性及外界干扰具有强鲁棒性。另外, 该控制方法避免了类似反演控制方法带来的复杂度高的问题。其次, 从理论上证明了该控制器能够实现机器人系统对期望路径的跟踪。最后, 针对单臂六自由度空间机器人系统, 分别使用该控制器与鲁棒补偿控制器进行了仿真分析。仿真结果证实了该控制器的强鲁棒性。
Abstract
A global approximation convergence controller is designed for the free-floating space robot system, which solves the robustness problem of the system when there is initial state error or external disturbance.Firstly, the controller is designed based on the state space equation of the system, which isolates the output characteristics from control gains, and exhibits strong robustness against model uncertainties and external disturbance. Meanwhile, the control method completely avoids the high-complexity issue raised by backstepping-like control approaches.Then, it is proved theoretically that the proposed controller can ensure the robot system to track the desired path. Finally, the proposed controller and the robust compensation controller are used respectively for simulation analysis to a single-arm six-DOF space robot system.The simulation results confirm the superiority of the proposed controller.
参考文献

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张欢庆, 刘宜成. 空间机器人全局逼近收敛控制[J]. 电光与控制, 2018, 25(10): 24. ZHANG Huanqing, LIU Yicheng. Global Approximation Convergence Control for Space Robot[J]. Electronics Optics & Control, 2018, 25(10): 24.

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