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艾海平,陈力.空间机器人捕获航天器后基于无源性理论的鲁棒镇定控制
Robust calm control of space robot after captures target spacecraft based on passivity theory[J].计算力学学报,2019,36(6):727~732
空间机器人捕获航天器后基于无源性理论的鲁棒镇定控制
Robust calm control of space robot after captures target spacecraft based on passivity theory
Robust calm control of space robot after captures target spacecraft based on passivity theory
投稿时间:2018-10-28  修订日期:2019-02-27
DOI:10.7511/jslx20181028001
中文关键词:  漂浮基空间机器人  捕获航天器  无源性理论  镇定运动  径向基神经网络  H鲁棒控制
英文关键词:Free-Floating space robot  capture spacecraft  passivity theory  calm motion  radial basis neural network  H-infinity robust control
基金项目:国家自然科学基金(11372073;11072061);福建省工业机器人基础部件技术重大研发平台(2014H21010011)资助项目.
作者单位E-mail
艾海平 福州大学 机械工程及自动化学院, 福州 350116 ahpwuhan@163.com 
陈力 福州大学 机械工程及自动化学院, 福州 350116  
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中文摘要:
      研究了漂浮基空间机器人捕获非合作航天器过程对系统产生的冲击效应及其后联合体系统镇定运动的控制问题。为此,利用拉格朗日方法及牛顿-欧拉法分别获得了捕获前空间机器人及目标航天器的动力学模型;结合动量守恒定律、系统运动几何关系及力的传递规律,分析了捕获过程相互碰撞所产生的冲击效应,建立了捕获完成后两者联合体的系统动力学模型。在此基础上,针对同时存在不确定参数及外部扰动的联合体系统,设计了基于无源性理论的镇定运动神经网络H鲁棒控制算法。本文提出的基于无源性理论设计的鲁棒控制算法具有良好的动态特性及较强的鲁棒性,可快速完成系统的镇定控制,实现轨迹的精确跟踪。系统数值模拟仿真验证了本文控制方案的正确性。
英文摘要:
      The impact effects of free-floating space robot in capturing non-cooperative spacecraft and post-capture coordination control are studied.The dynamic models of a free-floating space robot and a target spacecraft before capture are obtained by Lagrange method and Newton-Euler method respectively.After this,based on the principle of conservation of momentum,the constraints of kinematics and the law of force transfer,the impact effects caused by collision of the capture process is analyzed.Finally,the dynamic model of the composite system is derived.On the basis,neural network H-infinity robust control for calm motion based on passivity theory is designed for the composite system with uncertain parameters and external disturbances.The robust control algorithm based on passivity theory in this paper has good dynamic characteristics and strong robustness.Stabilization control of composite system and accurate tracking of trajectory can be achieved.Numerical simulation verifies the effectiveness of the proposed control scheme.
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