| 引用本文: | 刘福才,梁利环,高娟娟,王文魁.不同重力环境的空间机械臂自抗扰轨迹跟踪控制[J].控制理论与应用,2014,31(3):352~360.[点击复制] |
| LIU Fu-cai,LIANG Li-Huan,GAO Juan-Juan,WANG Wen-Kui.Trajectory tracking control with active disturbance rejection for space manipulator in different gravity environments[J].Control Theory and Technology,2014,31(3):352~360.[点击复制] |
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| 不同重力环境的空间机械臂自抗扰轨迹跟踪控制 |
| Trajectory tracking control with active disturbance rejection for space manipulator in different gravity environments |
| 摘要点击 2236 全文点击 1685 投稿时间：2013-04-27 修订日期：2013-10-26 |
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| DOI编号 10.7641/CTA.2014.30399 |
| 2014,31(3):352-360 |
| 中文关键词 空间机械臂 微重力 自抗扰控制 轨迹跟踪 鲁棒性 |
| 英文关键词 space manipulator microgravity active disturbance rejection control trajectory tracking robustness |
| 基金项目 国家高技术研究发展计划(“863”计划)资助项目(2011AA). |
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| 中文摘要 |
| 针对空间机械臂在地面装调与空间应用时, 由于重力环境变化导致机械臂模型发生变化的问题, 提出了一
种自抗扰控制算法, 用于完成空间机械臂轨迹跟踪控制的任务. 该算法通过将系统模型及未知外扰作为系统的总和
扰动, 并利用扩张状态观测器对该扰动进行观测且给予补偿, 从而提高了系统抗扰的性能. 当机械臂模型随重力环
境变化而发生变化时, 使用同一个自抗扰控制器对其末端轨迹进行控制, 均能取得较好的控制效果. 通过对系统的
稳定性进行分析, 证明了所设计控制器的有效性. 将仿真结果与PD控制及自适应鲁棒控制做比较, 结果表明该控制
算法不仅能适应机械臂模型的变化而且还能有效抵抗系统的扰动, 从而使系统具有较强的鲁棒性. |
| 英文摘要 |
| The active disturbance rejection control (ADRC) method is proposed to cope with the model change in the
space manipulator caused by the variations of gravity, when it is aligned on the ground and applied in the space. In this
method, we treated the model change and the unknown disturbances as the total system disturbance which is observed and
compensated by means of an extended state observer (ESO). Simulation results show that good trajectory tracking results
can be achieved with ADRC even when the model is changing. The effectiveness of the proposed control law is further
verified by the theoretical analysis of the system stability. This control algorithm not only adapts to the model change and
rejects the system disturbance as shown in the simulation, but also improves the system robustness in comparison to the PD
control and adaptive robust control. |
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