一类空间机械臂的复合自适应控制

对于本体姿态受控而位置不受控的空间机械臂系统，其自适应控制通常是从跟踪误差中获取有关参数信息。但除了跟踪误差外，估计误差中也含有参数信息。该文首先分析了一类空间机械臂系统的动力学特性，建立了系统的估计模型；提出了一种复合自适应控制方法，其参数适应律由估计误差和跟踪误差共同决定；证明了这种自适应方法不仅可维持自适应控制系统的全局稳定，而且还可快速收敛和减少跟踪误差。仿真结果也验证了这一特点。

Composite Adaptive Control for Space Manipulators

For the space manipulator with an attitude-controlled base, the parameters of the adaptive control is generally driven by tracking errors. But except of tracking errors, the prediction errors also include parameter information. The detailed analysis of the dynamic characteristics of the space manipulator with an attitude-controlled base is provided, the prediction model for the system is developed, and a composite adaptive control algorithm in which the parameters is driven by both tracking errors and prediction errors is presented. Results on global asymptotic and quick tracking convergence are established and confirmed by simulation.