Hybrid Position, Attitude and Vibration Control of Nonholonomic Large Scale Space Structure

本文将空间主从式遥操作的分析与设计作为非完整系统的控制问题来讨论。提出的控制系统是一种主从系统，保证了从机器人对主机器人的精确跟踪和从机器人基座的稳定。为了达到控制目的，首次引入了姿态反作用力。通过假设操作者和工作环境的被动性，通过对被动性的检查，保证了整个系统的稳定性。多个仿真实验验证了所提出的主从式控制系统的有效性。最后，将所提出的遥操作控制系统应用于遥操作实时模拟器中。实验结果也验证了所提出的控制系统的有效性和实用性。在此基础上，讨论了平面空间机器人的反馈控制问题，并将其应用于平板上空气漂浮的平面空间机器人。通过对平面空间机器人反馈控制的实验研究，验证了时变控制律的有效性。所提出的控制律保证了空间机器人状态原点的全局渐近稳定性，并在能够模拟平面空间机器人运动的实验系统上实现。利用Caplygin系统的性质，设计了控制律。利用仿真结果确定了柔性臂平面空间机器人的控制参数，使柔性臂不受激励。实验结果表明，所提出的控制律对自由飞行空间机器人的控制是有效的和有用的。

In this study, the analysis and design of master-slave teleoperation in space are discussed as control problems of the nonholonomic systems. Proposed control system is a master-slave system that ensures accurate tracking of slave robot upon the master and the stabilization of slave robot's base. In order to fulfill the control purposes the attitude reaction force has been originally introduced. By assuming the passivity of human operator and working environment, the stability of whole system is guaranteed by the check of passivity. Several simulations have demonstrated the validity of the proposed master-slave control system. Finally the proposed teleoperation control system has been applied to the real-time simulator for teleoperation. Results of these experiments show also the validity and usefulness of the proposed control system. Furthermore we addressed the feedback control problem in planar space robot with application to the planar space robot floated by air on the flat table. This experimental study on the feedback control of the planar space robot demonstrates the usefulness of the time-varying control law. The proposed control law guarantees the global asymptotical stability of origin of the state of the space robot and is implemented on the experimental system that can simulate the motion of the planar space robot. Control laws were synthesized taking advantage of the properties of Caplygin system. Control parameters have been decided by using the simulation results for the planar space robot with flexible arms so that the flexible arm did not be excited. Experimental results show that the proposed control laws are effective and useful for the control of the free flying space robot.