面向操作月球车的高增益多项式平方和控制  

High-gain polynomial squares and controls for operating lunar rovers

作　　者：李聪 丁一波 岳晓奎[1,2,3] Li Cong;Ding Yibo;Yue Xiaokui(School of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China;Research&Development Institute of Northwestern Polytechnical University in Shenzhen,Shenzhen 518063,China;National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi'an 710072,China)

机构地区：[1]西北工业大学航天学院,西安710072 [2]西北工业大学深圳研究院,深圳518063 [3]西北工业大学航天飞行动力学技术重点实验室,西安710072

出　　处：《空天技术》2023年第6期42-52,共11页Aerospace Technology

基　　金：国家自然科学基金(12372048,12102343,U2013206);空间智能控制技术实验室开放基金课题资助(HTKJ2021KL502013);陕西省科学技术协会青年人才托举计划项目(20220509);航天飞行动力学技术重点实验室基金(KJW6142210210304);广东省基础与应用基础研究基金(2023A1515011421);中央高校基本科研业务费专项资金(D5000210833)。

摘　　要：针对我国无人月球探测和载人月球探测对多功能月面机器人巡视勘察、资源利用等方面的需求以及机器人移动机械臂系统的非线性特点,采用平方和方法研究移动机械臂系统的控制问题,探究如何将平方和方法应用于移动机械臂控制中。对降阶后的移动机械臂拉格朗日动力学模型,进行高增益观测器和滑动模式观测器设计与仿真对比。针对传统移动机械臂多项式非线性系统控制方法存在的求解速度慢、只保证局部最优解等问题,利用平方和方法设计渐近的跟踪控制器与搜索Lyapunov函数,采用基于Rantzar准则设计的控制器,使得系统全局渐近稳定。利用观测器系统的多项式系统形式,将跟踪控制器的速度值转化为观测值,得到输出反馈控制器,仿真结果证明了控制器的有效性。In view of the needs of multi-functional lunar robots such as patrol survey and resource utilization of unmanned lunar exploration and manned lunar exploration in China,as well as the nonlinear characteristics of the robot mobile manipulator system,sum of squares method is used to study the control problem of the mobile manipulator system,and how to apply sum of squares method to the control of the mobile manipulator.The design and simulation of high-gain observer and sliding mode observer are compared with the Lagrange dynamic model of the lowered mobile manipulator.Aiming at the problems of slow solution speed and only guaranteed local optimal solution of traditional polynomial nonlinear system control methods of mobile manipulators.The progressive tracking controller and search Lyapunov function are designed by the sum of squares method,and the controller is designed by Rantzar's criterion to make the system globally progressive and stable.Using the polynomial system form of the observer system,the speed value of the tracking controller is converted into the observation value,and the output feedback controller is obtained.The simulation results show the effectiveness of the controller.

关 键 词：平方和方法 非线性系统 移动机械臂 高增益观测器 Rantzar准则 

分 类 号：V447[航空宇航科学与技术—飞行器设计]