具有死区特性的空间机器人基于干扰观测器的<i>L</i><sub>2</sub>反步控制

戴巧莲; 陈力

doi:10.11728/cjss2017.04.499

具有死区特性的空间机器人基于干扰观测器的L₂反步控制

doi: 10.11728/cjss2017.04.499

戴巧莲,
陈力

福州大学机械工程及自动化学院福州 350116

基金项目:

国家自然科学基金项目资助（11372073，11072061）

详细信息

作者简介:
戴巧莲,E-mail:dql99726@163.com

中图分类号: TP241
计量
- 文章访问数: 1022
- HTML全文浏览量: 49
- PDF下载量: 3253
- 被引次数: 0
出版历程
- 收稿日期: 2016-04-24
- 修回日期: 2017-03-06
- 刊出日期: 2017-07-15

L₂ Back-stepping Control Based on Disturbance Observer for Space Robot under Dead-zone Effect

College of Mechanical Engineering, Fuzhou University, Fuzhou 350116

摘要

摘要: 研究了载体位置及姿态均不受控时空间机器人在惯性空间中的轨迹跟踪问题.考虑到系统存在参数不确定及死区特性等情况，提出了一种基于干扰观测器的L₂反步控制方案.结合拉格朗日方程和系统Jacobi关系矩阵建立系统的动力学模型.利用干扰观测器对系统建模误差进行观测补偿，并通过L₂干扰抑制法对观测误差进行消除，同时采用死区模糊补偿器对系统死区特性造成的影响进行补偿.该控制方案不需要预知准确的惯性参数，不用对惯性参数进行线性化处理，并且不要求估计系统不确定项和死区参数的上界，从而简化了系统的控制.数值仿真证明了该控制方案的有效性.
- 空间机器人 /
- 参数不确定 /
- 干扰观测器 /
- 死区补偿 /
- L₂反步控制
Abstract: The trajectory tracking control problem of space robot system with uncontrolled base is discussed. Considering the existence of uncertain parameter and unknown dead-zone in the space robot, an L₂ back-stepping control scheme based on the disturbance observer is proposed. Firstly, the dynamic model of system in inertia space is established by the combination of the second Lagrange method and Jacobi matrix. Then, the disturbance observer is used to observe and compensate the model error, and the observer error is eliminated by the method of L₂ disturbance suppression. Meanwhile, a fuzzy compensator is used to compensate the bad effect caused by dead-zone. The control scheme doesn't need to know the accurate inertia parameters and linearly parameterize the dynamic model. Moreover, it is not necessary to estimate the upper bound of system uncertainties and the dead-zone parameters, which simplifies the system control. A planar space robot with two links is simulated to verify the feasibility of the control scheme.
- Space robot /
- Uncertain parameter /
- Disturbance observer /
- Dead-zone compensation /
- L₂ back-stepping control

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参考文献(14)

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