| 柔性关节自由漂浮空间机械臂递推自适应控制 |
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| 引用本文： | 徐拴锋,杨保华,张笃周.柔性关节自由漂浮空间机械臂递推自适应控制[J].空间控制技术与应用,2014(4):9-13. |
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| 作者姓名： | 徐拴锋 杨保华 张笃周 |
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| 作者单位： | 北京控制工程研究所;空间智能控制技术重点实验室;中国空间技术研究院; |
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| 基金项目： | 国家自然科学基金资助项目(61374060);重点基础研究发展计划(973)资助项目(2013CB733100) |
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| 摘 要： | 针对柔性关节自由漂浮空间机械臂,在存在动力学参数不确定性的情况下,通过增加相对阻尼项,提出基于无源性的柔性关节自由漂浮空间机械臂的关节空间自适应控制器,然后得到其递推实现.递推自适应算法由两部分组成:一部分实现所需的机械臂控制力矩的递推,另一部分实现航天器参考速度和参考加速度的递推更新.针对六自由度柔性关节自由漂浮空间机械臂进行了仿真,验证了所设计的递推自适应控制算法的性能.
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| 关 键 词： | 递推自适应控制 柔性关节 自由漂浮空间机械臂 |
On the Recursive Adaptive Control for Flexible Joint
Free Floating Space Manipulators |
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| XU Shuanfeng,YANG Baohua and ZHANG Duzhou.On the Recursive Adaptive Control for Flexible Joint
Free Floating Space Manipulators[J].Aerospace Contrd and Application,2014(4):9-13. |
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| Authors: | XU Shuanfeng YANG Baohua and ZHANG Duzhou |
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| Institution: | XU Shuanfeng, YANG Baohua, ZHANG Duzhou ( 1. Beijing Institute of Control Engineering, Beijing 100190, China ; 2. Science and Technology on Space Intelligent Control Laboratory, Beijing 100190, China; 3. China Academy of Space Technology, Belting 100094, China) |
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| Abstract: | This paper investigates the recursive implementation of adaptive control for flexible-joint free- floating space manipulators （FFSM）. Based on adaptive control for rigid-joint FFSM, joint-space adap- tive controller for flexible-joint FFSM is derived by adding relative damping term, and then the recursive joint-space adaptive control for flexible-joint FFSM is developed. The recursive joint-space adaptive con- trol consists of two parts, one for the recursive formulation of the manipulator control torques, the other for the recursive updating of the spacecraft reference velocity and acceleration. Simulation is presented to show that the recursive adaptive controller can achieve the joint-space trajectory tracking on a six-DOF FFSM. |
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| Keywords: | recursive adaptive control flexible joint free-floating space manipulator |
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