| 基于观测器的漂浮基空间机器人模糊神经网络控制 |
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| 引用本文： | 张文辉,齐乃明,肖阿阳.基于观测器的漂浮基空间机器人模糊神经网络控制[J].宇航学报,2011(10). |
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| 作者姓名： | 张文辉 齐乃明 肖阿阳 |
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| 作者单位： | 徐州师范大学机电工程学院;哈尔滨工业大学航天学院; |
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| 基金项目： | 中国航天科技联合创新基金(CAST-HIT09C01) |
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| 摘 要： | 针对自由漂浮状态的空间机器人模型不确定性及外部干扰,并考虑到通常其关节电机运行于低速工况下,测速机难以满足要求,提出了一种速度重构的空间机器人模糊基函数网络控制策略。首先建立空间机器人动力学模型,而后借助观测器来重构速度信息,利用模糊基函数网络的学习能力来同时逼近控制器和观测器中的非线性,动态抵消模型不确定性及系统偏差对速度重构的影响。网络的权值及参数的调整算法在线实时自适应调整,不需要离线学习阶段。仿真结果表明该控制策略能够达到较高的控制精度,对于通常工作在低速工况下的空间机器人具有重要工程应用价值。
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| 关 键 词： | 自由漂浮空间机器人 速度观测器 模糊基函数网络 一致最终有界 |
Fuzzy Neural Network Control of Free-Floating Space Robot Based on Observer |
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| ZHANG Wen-hui,QI Nai-ming,XIAO A-yang.Fuzzy Neural Network Control of Free-Floating Space Robot Based on Observer[J].Journal of Astronautics,2011(10). |
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| Authors: | ZHANG Wen-hui QI Nai-ming XIAO A-yang |
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| Institution: | ZHANG Wen-hui1,2,QI Nai-ming2,XIAO A-yang2(1.School of Electromechanical Engineering,Xuzhou Normal University,Xuzhou 221116,China,2.School of Astronautics,Harbin Institute of Technology,Harbin 150001,China) |
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| Abstract: | Uncertainty model and disturbances of free-floating space robot and situation of low velocity for joints motors are considered.Tachometers were difficult to satisfy signal request.A fuzzy basis function network control strategy of space robot base on velocity reconstructed was presented.Firstly,dynamic model of space robot was established,and then velocity signals were reconstructed by observer,nonlinear function of observer and controller are approximated by the fuzzy basis function network with study abil... |
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| Keywords: | Free-floating space robot Velocity observer Fuzzy basis function network Uniformly ultimately bounded |
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