高技术通讯2017，Vol.27Issue(9)：833-839,7.DOI:10.3772/j.issn.1002-0470.2017.09-10.008
柔性关节空间机械臂奇异摄动自适应PD控制仿真研究
Simulation study on the singular perturbation based adaptive PDcontrol of flexible joint space manipulators
摘要
Abstract
The dynamic model of a flexible joint manipulator in the stages of space floating and ground debugging is es -tablished, and a singular perturbation based adaptive PD control algorithm for the manipulator 's end track trackingcontrol is designed to achieve the manipulator 's end position tracking control in the space floating stage and theground debugging stage.The singular perturbation method is used to divide the higher order system into two lowerones, i.e.a fast subsystem and a slow subsystem, and then the controllers for them are designed respectively .Thecontrol's stability analysis and simulation veritication are conducted , and the results show that the designed controlalgorithm can well achieve the trajectory tracking control both in the stages of ground debugging and space floating .关键词
自由漂浮/柔性关节/空间机械臂/自适应/奇异摄动Key words
free floating/flexible joint/space manipulator/adaptive/singular perturbation引用本文复制引用
刘福才,刘林,兰会,赵旭..柔性关节空间机械臂奇异摄动自适应PD控制仿真研究[J].高技术通讯,2017,27(9):833-839,7.基金项目
国家自然科学基金(51605415),载人航天预先研究项目(040301)和河北省自然科学基金(F2015203362,F2016203494)资助项目. （51605415）
