Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators
Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators
复制标题
柔性关节自由浮动空间机械臂的建模和基于观测器的增强自适应控制
DOI：
10.1016/j.actaastro.2014.12.002
复制
发表时间：
2015-03
期刊：
影响因子：
--
通讯作者：
陈力
中科院分区：
文献类型：
--
作者：
于潇雁;陈力
研究了具有参数不确定性和建模误差的柔性关节自由漂浮基空间机械臂基于速度观测器的自适应控制问题。首先，利用拉格朗日方程建立了漂浮基双柔性转动关节空间机械臂的动力学模型。其次，提出了一种柔性补偿器，使等效关节刚度足够大，从而可以使用传统的奇异摄动方法。基于奇异摄动理论，将系统分解为两个子系统，一个慢子系统和一个柔性关节快子系统。提出了一种由慢控制分量和柔性关节快控制分量组成的复合控制器。采用基于滑动速度观测器的增广自适应控制算法对慢子系统进行控制。利用线性观测器估计的速度设计柔性关节快速控制器，使快速子系统在慢控制器的作用下稳定在慢子系统建立的平衡轨迹附近。仿真结果表明，该方法能有效地控制弹性关节的振动，并具有良好的跟踪性能。
The velocity observer based adaptive control of flexible-joint free-floating space manipulators with parametric uncertainties and modeling errors is addressed. First, the dynamical model of a free-floating space manipulator with two flexible revolute joints is established by the Lagrange equations. Second, a flexibility compensator was proposed, which could make the equivalent joint stiffness large enough to use traditional singular perturbation approach. Based on singular perturbation theory, the system is decomposed into two subsystems, a slow subsystem and a flexible-joint fast subsystem. Then a composite controller which consisted of a slow control component and a flexible-joint fast control component was proposed. A sliding velocity observer based augmented adaptive control algorithm was applied to control the slow subsystem. The flexible-joint fast controller was designed with the estimated velocity by linear observer to stabilize the fast subsystem around the equilibrium trajectory set up by the slow subsystem under the effect of the slow controller. Finally, numerical simulations were carried out, which showed that elastic joint vibrations had been stabilized effectively with good tracking performance.
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发表时间：
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