空间绳系机器人目标抓捕鲁棒自适应控制器设计

发布时间：2018-04-15 10:27

本文选题：空间绳系机器人 + 目标捕获　；参考：《自动化学报》2017年04期

【摘要】：针对空间绳系机器人(Tethered space robot,TSR)目标抓捕过程中的稳定控制问题,建立空间绳系机器人系统模型,根据阻抗控制原理,设计基于位置的阻抗控制方法;针对空间绳系机器人系统的模型不确定性问题,利用神经网络对不确定性进行估计补偿,设计鲁棒项对空间系绳干扰和神经网络估计误差的影响进行抑制,在此基础上设计空间绳系机器人目标抓捕鲁棒自适应稳定控制器,并进行稳定性证明.最后对设计的控制器进行仿真验证.作为对比,对无鲁棒项自适应的稳定控制器进行仿真.仿真结果表明,设计的基于阻抗控制的鲁棒自适应控制可以实现对空间绳系机器人目标抓捕过程中的稳定控制,与无鲁棒项自适应的稳定控制器仿真结果相比,本文采用的鲁棒自适应控制方法可以有效地对不确定性进行补偿,控制过程中超调量更小,收敛时间更短,并且控制精度更高.
[Abstract]:Aiming at the stability control of space rope robot Tethered space robott (TSR), the system model of space rope robot is established. According to the impedance control principle, the impedance control method based on position is designed.In order to solve the model uncertainty problem of space rope robot system, the neural network is used to estimate and compensate the uncertainty, and the robust term is designed to suppress the influence of the disturbance of space rope and the estimation error of neural network.On this basis, a robust adaptive stability controller for target capture of space rope robot is designed, and the stability of the controller is proved.Finally, the controller is simulated and verified.As a contrast, the robust adaptive stability controller is simulated.The simulation results show that the robust adaptive control based on impedance control can realize the stability control of the target capture process of the space rope robot, compared with the simulation results of the robust adaptive stability controller.The robust adaptive control method used in this paper can compensate the uncertainty effectively. The overshoot is smaller, the convergence time is shorter, and the control accuracy is higher.
【作者单位】：西北工业大学航天学院智能机器人研究中心;西北工业大学航天飞行动力学技术国家重点实验室;
【基金】：国家自然科学基金(11272256,60805034,61005062)资助~~
【分类号】：TP242

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