Fuzzy Adaptive Compensator Control for Free-floating Space Manipulator With Unknown Payload Parameters to Track Desired Trajectory in Joint Space
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摘要: 讨论了载体姿态受控、位置不受控制情况下, 漂浮基空间机械臂载体姿态及机械臂 关节协调运动的控制问题. 利用拉格朗日方法并结合系统动量守恒关系, 建立了漂浮基空间机械臂完全能控形式的系统动力学方程. 以此为基础, 针对空间机械臂末 端爪手所持载荷参数未知的情况, 设计了一种基于标称计算力矩控制器附加模糊自适应补偿控制器的复合控制方案, 即通过模糊自适应补偿控制器来弥补系统未知参数对标称计算力矩控制器的影响, 以确保存在未知系统参数情况下整个闭环控制系 统的渐近稳定性. 文中提到的控制方案能够有效地控制漂浮基空间机械臂的载体姿态及机械臂关节, 可以协调地完成期望的轨迹运动, 并具有不需要反馈和测量空间机械臂载体 的位置、移动速度、移动加速度, 同时也不要求系统动力学方程关于系统惯性参数呈线性函数关系的显著优点. 通过系统数值仿真证实了方法的有效性.Abstract: In this paper, when the case of the attitude of base controlled and its location uncontrolled, we discuss the control for free-floating space manipulator to track desired trajectory in joint space. Combined the relationship of the linear conversation of the system and the Lagrange approach, the full-controlled dynamic equation of free-floating space manipulator are established. Base on above results proposed, aiming at the case of free-floating space manipulator system with uncertain payload parameters, a composite scheme of a computed torque controller plus a fuzzy compensator is proposed to track desired trajectories in joint space. Namely, it will transfer the impact of system's unknown parameters to computed torque controller through fuzzy adaptive compensation system controller, to
ensure the whole closed-loop control system's asymptotic stability with the existence of unknown parameters. The mentioned control scheme can effectively control two joint of space manipulator to stably track the desired trajectory in joint space. It has obvious advantages that with needless feedback and measured the position, velocity, acceleration, attitude angle velocity and attitude angle acceleration of the floating base. At the same time, no requirements for the dynamic equations of the system are linearly dependent on inertial parameters. A two space-based manipulator system is simulated to verify the proposed control scheme.
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