| 参数不确定空间机械臂系统的自适应鲁棒性联合控制 |
| |
| 引用本文： | 陈力,刘延柱.参数不确定空间机械臂系统的自适应鲁棒性联合控制[J].宇航学报,1999,20(3):96-100. |
| |
| 作者姓名： | 陈力 刘延柱 |
| |
| 作者单位： | 1. 福州大学机械工程系,福州,350002
2. 上海交通大学工程力学系,上海,200030 |
| |
| 基金项目： | 国家自然科学基金，航空基金 |
| |
| 摘 要： | 本文讨论载体位置与姿态均不受控制的自由浮动空间机械臂系统的控制问题，基于增广变量法，提出当机械臂与载荷参数不确定时自由浮动空间机械臂追踪惯性空间期望轨迹的自适应棒性联合控制方法。通过仿真运算，证实了方法的有效性。
|
| 关 键 词： | 浮动空间 机械臂系统 自适应 鲁棒性 联合控制 |
THE SCHEME OF COMBINING ADAPTATION WITH ROBUSTNESS CONTROL FOR SPACE MANIPULATOR SYSTEM WITH UNCERTAIN PARAMETERS |
| |
| Chen Li,Liu Yanzhu.THE SCHEME OF COMBINING ADAPTATION WITH ROBUSTNESS CONTROL FOR SPACE MANIPULATOR SYSTEM WITH UNCERTAIN PARAMETERS[J].Journal of Astronautics,1999,20(3):96-100. |
| |
| Authors: | Chen Li Liu Yanzhu |
| |
| Abstract: | In this paper,the control of free floating space manipulator is discussed.with the augmented state feedback control model,The scheme of combining adaptation with robustness control is proposed for a free floating space manipulator whose papamets is uncertainty to track the desired trajectory of workspace.It is demonstrated by the simulation that the control scheme is efficient. |
| |
| Keywords: | Free floating space manipulator\ Multibody dynamics\ Combining adaptation with robustness control |
| 本文献已被 维普 万方数据 等数据库收录！ |
