摘要
针对自由飘浮空间机械臂与基座的运动耦合问题,提出了一种基于不变流形的机械臂位形与基座姿态协同控制算法。在分析了系统可控性的基础上,构造了线性状态反馈下系统的不变流形,并设计了分段连续的镇定控制器。该控制器先将系统状态镇定到不变流形之上,然后沿该流形将系统状态调整到期望值。仿真结果表明,在系统可控的条件下,所提出的协同控制算法能将机械臂位形与基座姿态同时调整到期望状态。
As for the dynamic coupling between a free-floating space manipulator and its base,a coordinated control algorithm for the manipulator configuration and the base orientation is proposed.At first,the controllability of the system is analyzed.Then the invariant manifold with a linear state feedback is constructed and the piecewise-smooth controller is designed.The system states are stabilized onto the invariant manifold,and then are regulated to the desired configuration along the manifold.At last,simulation results show that the manipulator configuration and the base orientation can reach desired values simultaneously if the system is controllable.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2011年第8期1708-1714,共7页
Journal of Astronautics
关键词
自由飘浮空间机器人
协同控制
不变流形
Free-floating space robot
Coordinated control
Invariant manifold
