机械制造与自动化Issue(4)：153-156,4.
基于时延估计的漂浮基空间机器人鲁棒H∞关节跟踪控制
Robust H∞ Control of Free-floating Space Robot Systems in Joint Space Based on Time Delay Estimation
摘要
Abstract
The control of free floating space robot system with uncontrol ed base is discussed. According to the case of the under-driven forms of the space robot system with uncertain parameters and the advantages of the time delay estimation and robust H∞control, the tracking control scheme based on the time delay estimation robust H∞ is proposed. This paper achieves the unknown dy-namics of its online and compensates the control process by using the time delay estimation. L2 gain control is introduced, the control scheme can be used to achieve L2 interference suppression of the time-delay estimation error, thus further improving the robustness of the system. At the same time, the Lyapunov function and Riccati equation are used to ensure the asymptotic stability and H∞ ro-bust performance of the closed loop system. The simulation results demonstrate the effectiveness of the proposed control er.关键词
漂浮基空间机器人/时延估计/鲁棒H∞控制Key words
free-floating space robot/time delay estimation/robust H∞ control分类
信息技术与安全科学引用本文复制引用
叶柄能,陈力..基于时延估计的漂浮基空间机器人鲁棒H∞关节跟踪控制[J].机械制造与自动化,2016,(4):153-156,4.基金项目
国家自然科学基金资助项目(11372073) （11372073）
