扩张状态观测器下的FFSR末端轨迹跟踪控制  

FFSR Terminal Trajectory Tracking Control Based on Extended State Observer

作　　者：陈志华[1] 胡安正 CHEN Zhi-hua;HU An-zheng(Xiangyang Auto Vocational Technical College,Hubei Xiangyang 441021,China;School of Physics and Electronic Engineering,Hubei University of Arts and Science,Hubei Xiangyang 441053,China)

机构地区：[1]襄阳汽车职业技术学院,湖北襄阳441021 [2]湖北文理学院物理与电子工程学院,湖北襄阳441053

出　　处：《机械设计与制造》2022年第12期282-286,共5页Machinery Design & Manufacture

基　　金：湖北省教育科学规划2019年度一般课题—人工智能视域下高职院校教学变革与创新机制研究(2019GB211)。

摘　　要：针对传统空间机器人控制方法需要测量角速度信息的问题,提出一种基于扩张状态观测器的优化控制方法,实现不确定条件下自由漂浮空间机器人(Free-Floating Space Robot,FFSR)末端轨迹跟踪控制。首先,在FFSR名义模型的基础上,考虑参数不精确以及外部扰动因素,建立更符合实际工程的FFSR模型;而后,通过增广变量方法将FFSR模型转化成状态空间表达形式,并基于此设计扩张状态观测器,对状态变量以及不确定项进行在线估计;进而,将观测器的输出作为控制器的输入,提出一种基于状态依赖黎卡提方程(State-Dependent Riccati Equation,SDRE)的优化控制方法;最后,在Matlab/Simulink平台上对所提控制方法进行数值仿真。结果表明:所设计的状态观测器能有效观测FFSR关节角的角速度以及末端抓手位置信息,且通过所设计的优化控制器能够实现机械臂末端的精确跟踪控制。Aiming at the problem that the traditional control method of space robot needs to measure the angular velocity information,an optimal control method based on extended state observer is proposed to realize the terminal trajectory tracking control of free floating space robot(FFSR)under uncertain conditions.Firstly,on the basis of FFSR nominal model,considering the parameter inaccuracy and external disturbance factors,a more practical FFSR model is established;Then,the FFSR model is transformed into the state space expression by the augmented variable method,and based on this,an extended state observer is designed to estimate the state variables and uncertainties Online;And then,the output of the observer is taken as the input Based on the input of the controller,an optimal control method based on state dependent Riccati equation(SDRE)is proposed;Finally,the numerical simulation of the proposed control method is carried out on MATLAB/Simulink platform.The results show that the designed state observer can effectively observe the angular velocity of the FFSR joint angle and the position information of the end gripper,and the designed optimal controller can realize the accurate tracking control of the manipulator end.

关 键 词：自由漂浮空间机器人 扩张状态观测器 状态黎卡提方程 末端轨迹跟踪控制 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]