基于扩张状态观测器的漂浮基空间机器人姿态、关节运动模糊控制  

The attitude and joint motion fuzzy control of free-floating space robot based on extended state observer

作　　者：杜欣 陈力[1,2] Du Xin;Chen Li(College of Mechanical Engineering and Automation, Fuzhou University, Fujian Fuzhou, 350116, China;Collaborative Innovation Center of High-end EquipmentManufacturing in Fujian, Fujian Fuzhou, 350116, China)

机构地区：[1]福州大学机械工程及自动化学院,福建福州350116 [2]福建省高端装备制造协同创新中心,福建福州350116

出　　处：《机械设计与制造工程》2019年第5期35-39,共5页Machine Design and Manufacturing Engineering

基　　金：国家自然科学基金资助项目(11372073,11072061);福建省工业机器人基础部件技术重大研发平台(2014H21010011)

摘　　要：讨论了载体位置不控、姿态受控的漂浮基空间机器人基于扩张观测器的模糊控制方法。在平面两连杆空间机械臂物理模型的基础上,依据Euler-Lagrange方程建立了空间机器人机械臂系统的动力学方程;基于自抗扰控制技术,设计了扩张状态观测器(ESO),对空间机器人机械臂系统模型不确定的部分进行了实时的估计及观测,提高了系统的控制性能;结合模糊控制技术对非线性误差反馈率进行设计,调节并选择适当的参数,显著提高了系统的轨迹跟踪性能。通过设定合理的Lyapunov函数对所提出的方法进行了稳定性分析。最后以平面两连杆空间机械臂为被控对象进行数值仿真,仿真结果验证了所提控制方法的可行性和有效性。The fuzzy control method based on extend state observer(ESO) of floating base space robot with unsupported position and attitude is discussed. Based on the physical model of planar two-space manipulator, the momentum conservation relationships in space robot system and the second Lagrangeian modeling method are used to establish the dynamics of the system. Based on ADRC technology, an extended state observer (ESO) is designed to estimate and observe the model uncertainty of the system in real time, thus the control performance of the system is improved. At the same time, the fuzzy control technique is used to design the nonlinear error feedback rate, adjust and select the appropriate parameters, achieve the decoupling control of the manipulator joint. This significantly improves the system's trajectory tracking performance. The stability of the proposed method is analyzed by choosing reasonable Lyapunov function, proves the stability of the control system. Taking two-link robot as numerical simulation of the controlled object, it show that the proposed control method is feasible and effective.

关 键 词：空间机器人 扩张状态观测器 模糊控制器 关节跟踪 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]