自由漂浮机械臂抓取翻滚目标的自适应控制策略  

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

作　　者：王汉磊[1,2] 解永春[1,2] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术国家级重点实验室,北京100190

出　　处：《空间控制技术与应用》2009年第5期6-12,共7页Aerospace Control and Application

基　　金：国家自然科学基金(90305024)资助项目

摘　　要：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.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.

关 键 词：自适应控制 不确定性 翻滚卫星 自由漂浮机械臂 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]