自由漂浮机械臂抓取翻滚目标的自适应控制策略

提出了一种自由漂浮机械臂抓取翻滚目标的自适应控制策略.抓取翻滚目标要求自由漂浮机械臂具有很强的轨迹跟踪能力,但是自由漂浮机械臂本身以及目标所存在的运动学和动力学参数不确定性使基于模型的控制器性能急剧下降,甚至变得不稳定.通过对参数的自适应逐步改善基于模型的控制器的性能,并且提出了一种新的自由漂浮机械臂关节空间自适应控制器.最后通过数值仿真对所提出的自适应控制策略进行了验证.

Adaptive Control Scheme for the Capture of a Tumbling Spacecraft Using Free-Floating Space Manipulators

In this paper, we have proposed an adaptive control scheme for the capture of a tumbling spacecraft using free-floating space manipulators. Capturing tumbling target spacecraft requires the freefloating space manipulator to have high tracking performance. However, uncertainties always exist in both the free-floating space manipulator and the target spacecraft. In the presence of parameter uncertainties, model based controllers tend to give deteriorated performance or even become unstable. Thus, we employ parameter adaptations to improve the performance of model based controllers, and we have also proposed a novel joint-space adaptive controller for free-floating space manipulators. Simulation results are presented to show the performance of the proposed adaptive control seheme.