参数不确定空间机械臂关节轨迹跟踪的增广自适应控制方案

讨论了载体位置与姿态均不受控制的漂浮基两杆空间机械臂系统的控制问题.系统动力学分析的结果表明,结合系统动量及动量矩守恒关系得到的系统动力学方程将为系统惯性参数的非线性函数.证明了借助于增广变量法,即通过适当扩展系统的控制输入与输出可以得到一组控制方程,它们可以表示为一组适当选择的惯性参数的线性函数.以此为基础,针对机械臂末端载荷参数未知的情况,设计了关节空间轨迹跟踪的增广自适应控制方案.此控制方案的显著优点在于不需要测量漂浮基的位置及移动的速度、加速度.仿真运算证实了方法的有效性. 

ADAPTIVE CONTROL FOR SPACE MANIPULATOR TO TRACK THE DESIRED TRAJECTORYIN JOINT SPACE

In this paper, the dynamics and control problems of free-floating space manip- ulator systems are studied. It is verified that the dynamic equations of free-floating space manipulator systems can be linearly dependent on a group of inertial parameters. Based on the results and with the augmentation approach, an adaptive control scheme for space manipulator systems with unknown payload parameters to track the desired trajectory in joint space is developed. The control scheme proposed above is structurally and computationally simple, because of an effective exploitation of the system dynamics. In particular, it requires not the measuring of the position, velocity and acceleration of the base. A simulation study of two-link planar space manipulator system is presented; it is shown that the control scheme proposed is feasible and effective.