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存在关节力矩输出死区及外部干扰的漂浮基空间机械臂积分滑模神经网络自适应控制
Integral sliding mode neural networks adaptive control for the free-floating space manipulator with joint torque output dead-zone and external disturbance
投稿时间:2017-08-12  修订日期:2017-09-16
DOI:
中文关键词:  漂浮基空间机械臂系统  关节力矩输出死区  外部干扰  积分滑模神经网络  轨迹跟踪
英文关键词:free-floating space manipulator  joint torque output dead-zone  external disturbance  integral sliding mode neural network  trajectory tracking
基金项目:国家自然科学基金项目(11372073,11072061); 福建省工业机器人基础部件技术重大研发平台(2014H21010011).
作者单位E-mail
黄小琴 福州大学机械工程及自动化学院 hxq582p@163.com 
陈力 福州大学机械工程及自动化学院  
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中文摘要:
      讨论了载体位置、姿态均不受控时漂浮基空间机械臂在带有关节力矩输出死区及外部干扰情况下轨迹跟踪的控制算法设计问题。死区与外部干扰影响系统的控制精度与稳定性。为此引入积分型切换函数减少外部干扰引起的稳态误差,并利用径向基函数神经网络逼近动力学方程的未知部分,提出了一种积分变结构神经网络控制器。控制算法的优点是:在死区斜率与边界参数不确定及最优逼近误差上确界未知的条件下,利用最优逼近误差、死区及干扰的补偿项来消除影响。李亚普诺夫稳定性分析证明了闭环系统是稳定的,且跟踪误差将收敛到零的一个邻域内。仿真运算证实了该控制算法的有效性,实现了空间机械臂的关节空间轨迹跟踪控制。
英文摘要:
      The trajectory tracking control of a free-floating space manipulator with joint torque output dead-zone and external disturbance is discussed. Dead-zone and external disturbance will affect the control precision and stability of the system. The steady state error caused by external disturbance is reduced by use of the integral variable structure function, and the radial basis function neural network is used to approximate unknown part of the dynamic equation. Then, an integral variable structure neural network control is proposed. In the scheme, effects due to the unknown slope and boundary of the dead-zone are eliminated by introducing dead-zone and disturbance compensation, and the effects due to unknown supremum of the optimal approximation error are eliminated by the optimal approximation error. The Lyapunov stability analysis proves that the closed-loop control system is stable and the tracking error converges to a neighborhood of zero. Simulation in joint space is carried out. It successfully tracked the given trajectory, and therefore convinced the efficiency of the control scheme.
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