考虑状态约束的绳系组合体欠驱动控制  

Under-Actuated Control of the Tethered Combination with State Constraints

作　　者：郭新程 孟中杰[1] 鲁迎波 GUO Xincheng;MENG Zhongjie;LU Yingbo(School of Astronautics,Northwestern Polytechnical University,Xi’an 710072,China;School of Electrical and Information Engineering,Zhengzhou University of Light Industry,Zhengzhou 450001,China)

机构地区：[1]西北工业大学航天学院,西安710072 [2]郑州轻工业大学电气信息工程学院,郑州450001

出　　处：《空间控制技术与应用》2022年第2期47-53,共7页Aerospace Control and Application

基　　金：载人航天预先研究资助项目(030501)。

摘　　要：针对空间绳系机器人抓捕失稳目标后组合体稳定控制问题,提出一种考虑状态约束的欠驱动控制方法.在建立绳系系统动力学模型的基础上,设计辅助函数保证状态约束,基于能量法的控制框架设计欠驱动稳定控制器.从数学上证明了系统状态满足约束、稳定且能收敛到期望值.对设计的控制器进行仿真验证,并与传统分层滑模控制器进行对比.仿真结果表明本文控制方法的优越性,组合体姿态角变化范围更小,收敛时间更短,控制精度更高.An underactuated Control method is proposed for the stabilization control of the postcapture combination with state constraints.First,On the basis of establishing the dynamic model of the tethered system,the auxiliary function is designed to ensure the state constraints,and an underactuated controller is designed based on the energy method.Then,it is mathematically proved that the system state satisfies the constraints and can converge to the expected value.Finally,the designed controller is verified by simulation and compared with the traditional hierarchical sliding mode controller.The simulation results show the superiority of the designed controller with smaller attitude angle change range,less convergence time and higher control accuracy during the control process.

关 键 词：空间绳系机器人 组合体控制 欠驱动控制 状态约束 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]