机器人2012，Vol.34Issue(6)：722-729,8.DOI:10.3724/SP.J.1218.2012.00722
具有柔性关节的漂浮基空间机械臂基于状态观测器的轨迹跟踪鲁棒反步控制及弹性振动抑制
Robust Backstepping Control Based on State Observer and Elastic Vibration Suppressing of Free-Floating Space Manipulator with Flexible Joints
摘要
Abstract
The dynamics modeling, motion trajectory tracking control and elastic vibration suppressing problems of free-floating space manipulator system with flexible joints, uncertain system parameters and external disturbances are studied. The system's dynamic equations are established by using the momentum conservation, angular momentum conservation and the Lagrange equation. According to the singular perturbation method, the system is decomposed into two independent subsystems: a slow subsystem (represents the system's rigid part) and a fast subsystem (represents the system's flexible part). For the slow subsystem, a robust backstepping control method based on a state observer is designed to eliminate the "rigid-flexible rotation angle error" , compensate the uncertain system parameters and the external disturbances, and achieve the asymptotic tracking of the space manipulator. During the control procedure, there is no need to measure and feedback the system's velocity signals by use of the state observer, so the control method is simpler and more precise. For the fast subsystem, a velocity difference feedback control method is used to stabilize the elastic vibrations caused by the flexible joints, and guarantee the system's stability. The simulation results prove the proposed control method's efficiency.关键词
漂浮基空间机械臂/柔性关节/观测器/不确定参数/外部干扰/鲁棒/反步/奇异摄动Key words
free-floating space manipulator/ flexible joint/ observer/ uncertain parameter/ external disturbance/ robust/backstepping/ singular perturbation分类
信息技术与安全科学引用本文复制引用
谢立敏,陈力..具有柔性关节的漂浮基空间机械臂基于状态观测器的轨迹跟踪鲁棒反步控制及弹性振动抑制[J].机器人,2012,34(6):722-729,8.基金项目
国家自然科学基金资助项目(11072061,10672040) （11072061,10672040）
福建省自然科学基金资助项目(2010J01003). （2010J01003）
