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针对路径相关空间内自由漂浮空间机器人无法进行有效跟踪控制的问题,设计了一种避奇异轨迹规划—跟踪算法,用于完成路径相关空间机械臂末端轨迹跟踪控制的任务.首先,分析奇异条件并设定安全边界曲线,求解回避奇异的基座姿态角阈值,从而得到避奇异参考轨迹及初始状态值.接着,利用自由漂浮空间机器人非线性动力学模型具有状态依赖参数的类线性结构特点,基于状态依赖Riccati方程设计跟踪控制器对末端速度进行跟踪,保证闭环系统的局部渐近稳定性.所提方法克服了传统方法将工作空间约束在路径无关空间的缺点.仿真结果表明,该算法具有比比例微分(proportional derivative,PD)控制更高的跟踪精度.同时,在存在输入干扰的情况下仍然能够实现有效跟踪.
Aiming at the problem that the free-floating space robot in the path-related space can not be effectively controlled by tracking, a novel algorithm of tracking-free trajectory planning-tracking is designed to accomplish the trajectory tracking control of the path-related space manipulator.Firstly, The safe boundary curve is set and the singular base attitude angle threshold is avoided to obtain the anti-singular reference trajectory and the initial state value.Secondly, based on the linear structural characteristics of the nonlinear dynamics model of a free-floating space robot with state-dependent parameters, The state relies on the Riccati equation to design a tracking controller to track the end velocity and ensure the local asymptotic stability of the closed-loop system. The proposed method overcomes the shortcomings that the traditional method constrains the workspace to the path-independent space. Simulation results show that the proposed algorithm has better performance than The proportional derivative (PD) controls the higher tracking accuracy and, at the same time, effectively tracks in the presence of input interference.