参数不确定空间机械臂系统的增广自适应控制

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,为此对系统的运动学、动力学作了分析。结果表明 :结合系统动量守恒及动量矩守恒关系得到的系统广义Jacobi关系、以及系统的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可以将增广广义Jacobi矩阵以及系统动力学方程表示为一组适当选择的惯性参数的线性函数。在此基础上,给出了系统参数未知时,空间机械臂末端抓手跟踪惯性空间期望轨迹的增广自适应控制方案。通过仿真运算,证实了方法的有效性。

ADAPTIVE CONTROL OF SPACE-BASED MANIPULATOR WITH UNCERTAIN PARAMETERS

The kinematics and dynamics of a free floating space manipulator system are analyzed, and it is shown that the Jacobian matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters. With the augmentation approach, it is demonstrated that the augmented generalized Jacobian matrix and the dynamic equations of the system can be linearly dependent on inertial parameters. Based on the results, an adaptive control scheme for a free floating space manipulator with uncertain inertial parameters to track the desired trajectory in the workspace is proposed, and a two link planar space manipulator system is simulated to verify the proposed control scheme. The advantages of the adaptive control scheme proposed are that it need not measure the position, velocity and acceleration of the free floating base of space manipulator, and nor the angle acceleration of joints.