漂浮基柔性空间机械臂基于Backstepping控制策略设计的姿态、关节运动控制  

BACKSTEPPING CONTROL OF COORDINATED MOTION OF FREE-FLOATING FLEXIBLE SPACE MANIPULATOR SYSTEM

作　　者：郭益深[1] 陈力[1] 

机构地区：[1]福州大学机械工程学院,福州350002

出　　处：《工程力学》2009年第10期165-170,共6页Engineering Mechanics

基　　金：国家自然科学基金项目(10372022;10672040);福建省自然科学基金项目(E0410008)

摘　　要：讨论了载体位置无控、姿态受控情况下,漂浮基柔性空间机械臂姿态、关节协调运动的控制问题。基于假想模态法、系统动量守恒关系及拉格朗日第二类方程,建立了漂浮基柔性空间机械臂的二阶非线性系统动力学方程。以此为基础,采用Backstepping控制策略,设计了漂浮基柔性空间机械臂载体姿态与机械臂各关节协调运动的Backstepping控制方案。提出的控制方案使系统满足了李雅普诺夫稳定性理论条件,并保证了系统具有全局意义下的渐进稳定性。一个平面漂浮基柔性空间机械臂的系统数值仿真,证实了此控制方案的有效性。The control problem of coordinated motion of a free-floating flexible space manipulator system is discussed. Based on the assumed mode method, the system linear momentum conversation and the Lagrange equation of second kind, the second-order nonlinear dynamic equation of the flexible space manipulator system is established. Accordingly, using the Backstepping control approach, the Backstepping control scheme is designed for coordinated motion between the base＇s attitude and the joints of the free-floating flexible space manipulator system. With the proposed control scheme, the system satisfies the condition of Lyapunov stability theory, and it has global asymptotic stability. A planar free-floating flexible space manipulator system is simulated to verify the effectiveness of the proposed control scheme.

关 键 词：漂浮基 柔性空间机械臂 假想模态法 BACKSTEPPING控制 渐进稳定 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]