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该文研究了在本体位置不受控、姿态受控的情况下,漂浮基双臂空间机器人系统惯性空间协调运动的轨迹跟踪问题。针对存在外部扰动和未知系统惯性参数的情况,设计了一种基于模糊基函数网络的自适应调节控制方案。用模糊基函数网络对双臂空间机器人系统建模,利用鲁棒技术处理建模误差和外部扰动在内的不确定性。所提控制方案的特点是:不需要动力学方程中的惯性参数符合线性规律,也无需预知系统的惯性参数;同时可以利用学习规则在线自适应调节模糊基函数网络的所有权值和参数,因此控制方案是灵活的。该文稳定性分析证明了控制方案的全局稳定性和良好的轨迹跟踪性能。仿真算例表明了该方案能有效地控制双臂空间机器人的本体姿态和末端爪手协调地跟踪期望的运动轨迹。
In this paper, the trajectory tracking problem of coordinated motion of floating-base dual-arm space robot system in inertial space is studied under the condition of uncontrolled body position and attitude control. Aiming at the existence of external disturbances and unknown system inertia parameters, an adaptive regulation control scheme based on fuzzy basis function network is designed. Modeling the dual-arm space robot system with fuzzy basis function networks and using robust techniques to deal with the uncertainty of modeling errors and external disturbances. The proposed control scheme has the following characteristics: the inertia parameter in the dynamic equation does not need to be in line with the linear law, and it is also not necessary to predict the inertia parameter of the system; at the same time, all the weights and parameters of the fuzzy basis function network can be adaptively adjusted online by learning rules. The plan is flexible. The stability analysis of this paper proves the global stability and good trajectory tracking performance of the control scheme. The simulation results show that this scheme can effectively control the body posture of the dual-arm space robot and the tail claw hand to coordinately track the desired trajectory.