带滑移铰空间机械臂惯性空间轨迹的复合自适应跟踪控制

讨论了载体的位置与姿态均不受控制的漂浮基带滑移铰空间机械臂的控制问题。动力学分析表明，结合系统动量及动量矩守恒关系得到的运动Jacobi关系及系统动力学方程将是系统惯性参数的非线性函数，借助于增广变量法，我们得到了与惯性参数呈线性关系的系统广义Jacobi矩阵及系统控制方程，以此为基础，针对系统中存在未知惯性参数的情况，设计了一种末端抓手惯性空间期望轨迹跟踪的复合自适应控制方案，此控制方案的优点在于不需要测量空间机械臂载体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。

COMPOSITE ADAPTIVE CONTROL OF SPACE MANIPULATOR SYSTEM WITH PRISMATIC JOINT

In this paper, the control problem of free-floating space manipulator system with prismatic joint was studied. It is shown that the Jacobian matrix and the dynamic equations of the system could not easily be linearly parameterized, if we deduced it by use of the conservation relationship of the momentum and the angular momentum of the system. With the augmentation approach, we got the augmented generalized Jacobi matrix and the dynamic equation of the system that could be linearly dependent on a group of inertial parameters. Based on the results, the composite adaptive control scheme for free-floating space manipulator system with prismatic joint and unknown inertial parameters to track the desired trajectory in inertia space is proposed. The advantages of the control scheme proposed are that it needs not to measure the position, velocity and acceleration of the base. A two-link planar space manipulator system is simulated to verify the proposed control scheme.