基于固定时间的柔性关节空间机器人阻抗控制  

Impedance control of space robots with flexible joints based on fixed time

作　　者：刘辽雪 洪梦情 顾秀涛 高俊彦 郭毓[1] Liu Liaoxue;Hong Mengqing;Gu Xiutao;Gao Junyan;Guo Yu(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《南京理工大学学报》2022年第4期379-386,共8页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(61973167);江苏省研究生科研与实践创新计划项目(KYCX20_0296);江苏高校优势学科建设工程资助项目(AD20540)。

摘　　要：针对存在外部干扰的一类自由飞行的柔性关节空间机器人柔顺控制问题,提出了一种基于固定时间收敛的阻抗控制设计方法。该方法根据期望阻抗模型计算阻抗误差,进而采用反演法设计控制器,并利用非线性动态面方法对虚拟控制量进行滤波处理,在保证固定时间收敛的同时,解决了反演控制“微分项膨胀”问题。通过构造合适的Lyapunov函数,证明闭环系统半全局固定时间一致最终有界稳定。仿真结果表明,所设计的阻抗控制器具有良好的柔顺控制效果。To solve the compliance control problem of a class of free-flying space robots with flexible joints under external disturbances,an impedance control design method based on fixed time convergence is proposed.The impedance error is calculated according to the expected impedance model,and then the controller is designed by the backstepping technique.The virtual control variables are filtered by the nonlinear dynamic surface method,so that the‘differential term expansion’problem of backstepping control is solved while the convergence is guaranteed at fixed time.It is proved that the closed-loop system is semi-global fixed time uniformly ultimately bounded via constructing the suitable Lyapunov function.Finally,the simulation results show that the designed impedance controller has good compliance control performance.

关 键 词：柔性关节空间机器人 阻抗控制 反演法 固定时间收敛 非线性滤波器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]