The Fuzzy Neural Network Control Scheme With H∞ Tracking Characteristic of Space Robot System With Dual-arm After Capturing a Spin Spacecraft  

作　　者：Jing Cheng Li Chen 

机构地区：[1]School of Aerospace Engineering,Tsinghua University,Beijing 100084,China [2]School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350116,China

出　　处：《IEEE/CAA Journal of Automatica Sinica》2020年第5期1417-1424,共8页自动化学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(11372073,11072061)。

摘　　要：In this paper,the dynamic evolution for a dualarm space robot capturing a spacecraft is studied,the impact effect and the coordinated stabilization control problem for postimpact closed chain system are discussed.At first,the pre-impact dynamic equations of open chain dual-arm space robot are established by Lagrangian approach,and the dynamic equations of a spacecraft are obtained by Newton-Euler method.Based on the results,with the process of integral and simplify,the response of the dual-arm space robot impacted by the spacecraft is analyzed by momentum conservation law and force transfer law.The closed chain system is formed in the post-impact phase.Closed chain constraint equations are obtained by the constraints of closed-loop geometry and kinematics.With the closed chain constraint equations,the composite system dynamic equations are derived.Secondly,the recurrent fuzzy neural network control scheme is designed for calm motion of unstable closed chain system with uncertain system parameter.In order to overcome the effects of uncertain system inertial parameters,the recurrent fuzzy neural network is used to approximate the unknown part,the control method with H∞tracking characteristic.According to the Lyapunov theory,the global stability is demonstrated.Meanwhile,the weighted minimum-norm theory is introduced to distribute torques guarantee that cooperative operation between manipulators.At last,numerical examples simulate the response of the collision,and the efficiency of the control scheme is verified by the simulation results.

关 键 词：Capturing operation calm motion control closed chain system dual-arm space robot recurrent fuzzy neural network H∞tracking characteristic 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP183[自动化与计算机技术—控制科学与工程] V448[航空宇航科学与技术—飞行器设计]