时延估计柔性空间机器人鲁棒H_∞控制及振动抑制  

Time Delay Estimation of Flexible Space Robot Robust H_∞ Control and Vibration Suppression

作　　者：叶柄能 陈力[1] 

机构地区：[1]福州大学机械工程及自动化学院,福州350116 [2]南京模拟技术研究所,南京210016

出　　处：《空间科学学报》2016年第2期237-244,共8页Chinese Journal of Space Science

基　　金：国家自然科学基金项目资助(11372073)

摘　　要：讨论了参数不确定漂浮基柔性空间机器人关节空间的轨迹跟踪及柔性振动主动抑制问题.结合时延估计和鲁棒H_∞控制的优点,设计了时延估计鲁棒H_∞控制器跟踪期望轨迹.采用时延估计在线获得系统的未知动力学,并对控制过程加以补偿.引入L_2增益控制对时延估计误差的L_2干扰进行抑制,进一步提高系统的鲁棒性.理论分析证明引入的L_2增益控制能够将时延估计误差对系统的影响抑制到满足鲁棒H_∞性能,且闭环系统的所有信号都是有界的.运用虚拟控制力改造了原有方案,致使仅通过一个控制输入便可实现既跟踪期望轨迹又抑制柔性振动的控制目标.仿真实验证明了所提控制方案的有效性,对比结果证明了柔性振动主动抑制的有效性.This paper discusses the trajectory tracking and vibration suppression of free-floating flexible space robot with uncertain system parameters,which combines the advantages of time delay estimation control and robust H_∞ control.Time-delayed estimation is used to achieve unknown dynamics of space robot system online and to perform a compensation during the tracking control.L_2 gain control is employed to achieve L_2 interference suppression of time-delay estimation error,which could further improve the robustness of the system.At the same time,theoretical analysis proves that the introduction of L_2 gain control can suppress the influence of time delay estimation error on the system to satisfy the robust H_∞ performance,and ensures all signals in the closed-loop system to be bounded.In addition,the virtual control force is proposed to transform the original control scheme,which can achieve both tracking the desired trajectory and suppressing the flexible vibration control target through only one control input.Simulation results and comparison chart are given to illustrate the effectiveness of the proposed control scheme and the active vibration suppression of flexible.

关 键 词：漂浮基柔性空间机器人 时延估计 鲁棒H_∞控制 混合轨迹 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]