空间机器人主从遥操作的自抗扰控制

目前基于模型的控制方法是空间机器人遥操作控制的主流方法,但该方法不可避免地会引入运动的累积误差,甚至造成控制失稳。针对这一问题,基于自抗扰控制方法为空间机器人主从遥操作设计了一类单关节控制器,并采用计算机仿真方法研究了其基本性能,结果表明所设计的自抗扰控制器能够实现稳定的遥操作控制,且具有良好的抗扰性和鲁棒性。特别是由于自抗扰控制方法不依赖于机器人的数学模型,因此十分适合作为现行基于模型控制的有益补充。

Active Disturbance Rejection Control for Space Master-Slave Teleoperation

Model-based control is currently the mainstream method for telerobot teleoperation.However,the method inevitably brings about accumulative motion errors or even unstable motion of a telerobot.To solve this problem,this paper designs a type of single degree-of-freedom（DOF） rotating joints based on active disturbance rejection control（ADRC） method for master-slave telerobot operation.Computer simulation of its performance shows that ADRC has stable performance,good disturbance-rejection capability and robustness.In particular,ADRC does not rely entirely on the mathematical model of a telerobot.Therefore,the result of research is an augmentation to the currently used model-based approach.