自动化学报2017，Vol.43Issue(4)：538-547,10.DOI:10.16383/j.aas.2017.c150602
空间绳系机器人目标抓捕鲁棒自适应控制器设计
Capturing the Target for a Tethered Space Robot Using Robust Adaptive Controller
摘要
Abstract
Aimed at the problem of stabilization for a tethered space robot (TSR) capturing a target,a position-based impedance control is presented based on the model of a tethered space robot system.For the problem of model uncertainty of the tethered space robot system,an artificial neutral network (ANN) is used to estimate and compensate for the uncertainty,and a robust term is designed to repress the interference of tether and the effect of the estimation deviation by the ANN.Then a robust and adaptive controller for the TSR capturing a target is designed,and the stabilization of the controller is demonstrated.For the purpose of comparison,a simulation for an adaptive controller without the robust term is made,and the result shows that the controller designed in this paper can guarantee the stabilization during the TSR capturing a target.Compared to the adaptive controller without the robust term,the robust adaptive controller can compensate for the uncertainty effectively,with smaller overshoot,less convergence time,and higher control accuracy during the control process.关键词
空间绳系机器人/目标捕获/阻抗控制/鲁棒自适应控制Key words
Tethered space robot (TSR)/target capturing/impedance control/robust adaptive control引用本文复制引用
黄攀峰,胡永新,王东科,孟中杰,刘正雄..空间绳系机器人目标抓捕鲁棒自适应控制器设计[J].自动化学报,2017,43(4):538-547,10.基金项目
国家自然科学基金(11272256,60805034,61005062)资助 （11272256,60805034,61005062）
Supported by National Natural Science Foundation of China(11272256,60805034,61005062) （11272256,60805034,61005062）
