| 引用本文: | 陈 力.参数不确定空间机械臂系统的鲁棒自适应混合控制[J].控制理论与应用,2004,21(4):512~516.[点击复制] |
| CHEN Li.Robust and adaptive composite control ofspace manipulator system with uncertain parameters[J].Control Theory and Technology,2004,21(4):512~516.[点击复制] |
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| 参数不确定空间机械臂系统的鲁棒自适应混合控制 |
| Robust and adaptive composite control ofspace manipulator system with uncertain parameters |
| 摘要点击 1380 全文点击 1660 投稿时间：2002-01-21 修订日期：2003-08-18 |
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| DOI编号 10.7641/j.issn.1000-8152.2004.4.005 |
| 2004,21(4):512-516 |
| 中文关键词 漂浮基空间机械臂系统 增广变量法 鲁棒自适应混合控制 |
| 英文关键词 free_floating space manipulator system augmentation approach robust and adaptive composite control |
| 基金项目 国家自然科学基金项目(19872032;10372022); 福建省自然科学基金项目(E0110009). |
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| 中文摘要 |
| 讨论了载体位置与姿态均不受控制的漂浮基空间机械臂系统的控制问题.对系统运动学、动力学的分析结果表明,结合系统动量守恒及动量矩守恒关系得到的系统广义Jacobi关系以及系统的动力学方程是系统惯性参数的非线性函数.证明了借助于增广变量法可以将系统的增广广义Jacobi矩阵及系统动力学方程表示为一组适当选择的(组合)惯性参数的线性函数.以此为基础,针对系统惯性参数不确定的情况,设计了空间机械臂末端抓手跟踪惯性空间期望轨迹的鲁棒自适应混合控制方案.仿真运算结果证实了方法的有效性. |
| 英文摘要 |
| The control problem of free_floating space manipulator system was discussed,and the kinematics and dynamics of the system were analyzed.It is shown that the Jacobi matrix and the dynamic equations of the system are nonlinearly dependent on inertial parameters.By use of the idea of augmentation approach,it is verified that the augmented generalized Jacobi matrix and the dynamic equations of the system can be linearly dependent on a group of inertial parameters. Based on the results,the robust and adaptive composite control scheme for free_floating space manipulator system with uncertain inertial parameters to track the desired trajectory in inertia space was proposed,and a two_link planar space manipulator system was simulated to verify the proposed control scheme. |