空间科学学报2012，Vol.32Issue(5)：757-764,8.
自由漂浮双臂空间机器人基于速度滤波器的惯性空间轨迹跟踪鲁棒控制
Robust Control Based on Velocity Filter of Free-floating Dual-arm Space Robot System in Inertial Space
摘要
Abstract
Abstract The robust system with uncertain control scheme based on velocity filter of free-floating dual-arm space robot payload parameters was studied. Through the Lagrangian approach, the dynamic equation of the free-floating space robot was modeled as under-actuated system. With the augmentation approach, it was demonstrated that the dynamic equations and the augmented generalized Jacobi matrix of the system can be linearly dependent on a group of inertial parameters, respectively. Based on the results, a robust controller based on velocity filter was developed for dualarm space robot system with uncertain payload parameters to track the desired trajectories in inertial space. Ascribe to the pseudo-velocity signal acquired through the velocity filter, the proposed control scheme with only accurate positions of the joints and the end-effectors feedback avoid measuring thevelocity and acceleration of the end-effectors. And it can avoid the control chatter effectively at the same time. The effect of the controller is testified by computer simulation.关键词
自由漂浮双臂空间机器人/速度滤波器/鲁棒控制/增广变量法/惯性空间Key words
Free-floating dual-arm space robot system/Velocity filter/Robust control/Augmentation approach/Inertial space分类
航空航天引用本文复制引用
林成金,陈力..自由漂浮双臂空间机器人基于速度滤波器的惯性空间轨迹跟踪鲁棒控制[J].空间科学学报,2012,32(5):757-764,8.基金项目
国家自然科学基金项目（11072061,10672040）和福建省自然科学基金项目（2010J01003）共同资助 （）
