空间机械臂自适应扩展雅克比零反作用控制  

Adaptive Extended Jacobian Zero Reaction Control for Free-Floating Space Manipulators

作　　者：徐拴锋[1,2] 杨保华[3] 张笃周[1,2] 王汉磊[1,2] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制国家重点实验室,北京100190 [3]中国空间技术研究院,北京100094

出　　处：《宇航学报》2014年第7期786-793,共8页Journal of Astronautics

基　　金：国家自然科学基金(61374060);国家重点基础研究发展计划(2013CB733100)

摘　　要：针对自由漂浮空间机械臂执行在轨服务(On-Orbit Servicing,OOS)时对基座姿态的扰动问题,设计了一种基于扩展雅克比矩阵的自适应零反作用运动控制器。通过巧妙利用角动量守恒定律,解决了广义雅克比矩阵的非线性参数化问题。基于此,将运动学不确定性和动力学不确定性都考虑在内,采用李雅普诺夫稳定性分析工具,得到了自适应零反作用运动控制器,可以同时实现航天器姿态调节和机械臂末端执行器对任务空间中期望轨迹的跟踪,并且不需要测量机械臂末端执行器的速度。仿真结果表明了本文所提算法的有效性。This paper is devoted to the investigation of the adaptive zero reaction motion control for free-floating space manipulators in the presence of both the dynamic and kinematic uncertainties. The nonlinearly parametric problem of the generalized Jacobian matrix is solved based on the angular momentum conservation law. By virtue of the Lyapunov stability theory, we propose an adaptive extended Jacobian zero reaction controller for free-floating space manipulators, taking into account both the kinematic and dynamic uncertainties, and show that both the spacecraft attitude regulation and end-effector trajectory tracking can be achieved without using the end-effector velocity. The performances of the proposed controller are illustrated via the numerical simulation on a three-DOF planar space manipulator.

关 键 词：自由漂浮空间机械臂 自适应控制 参数不确定性 零反作用控制 

分 类 号：TP241.3[自动化与计算机技术—检测技术与自动化装置]