Dual-adaptive control of flexible-base flexible-joint space robot

被引：0

作者：

Chen Z. ^{[1
]}

Li Z. ^{[1
]}

机构：

[1] School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou

来源：

Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | 2019年 / 47卷 / 01期

关键词：

Dual-adaptive control; Flexible-base; Flexible-joint; Non-certainty equivalence; Space robot;

D O I：

10.13245/j.hust.190107

中图分类号：

学科分类号：

摘要：

To realize the rigid motion control and flexible vibration suppression of flexible-base flexible-joint space robot with unknown parameters, a dual-adaptive control scheme based on the non-certainty equivalence principle was proposed.Applying the Lagrange method, the momentum conservation principle and the singular perturbation method, the system dynamic equations and its corresponding slow and fast subsystems in two-time scale were derived when the base was in the attitude-controlled operation mode.A new type of low-pass filter signal was utilized to modify the regression matrix of system, and then a non-certainty equivalence adaptive control strategy with adjustable multiple parameters was designed for the slow subsystem to accomplish trajectory tracking of the base＇s attitude and joints of robot with unknown parameters.For the uncertain fast subsystem, an adaptive control was presented to ensure the asymptotic stability of the fast subsystem and suppress the flexible vibration of the base and joints.The simulation results demonstrate the effectiveness of the dual-adaptive scheme in the rigid and flexible motion control of the system. © 2019, Editorial Board of Journal of Huazhong University of Science and Technology. All right reserved.

引用

页码：32 / 38

页数：6

共 14 条

[1] Flores A.A., Ma O., Pham K., Et al., A review of space robotics technologies for on-orbit servicing, Progress in Aerospace Sciences, 68, pp. 1-26, (2014)
[2] Yoshida K., Achievements in space robotics, IEEE Robotics and Automation Magazine, 16, 4, pp. 20-28, (2009)
[3] Abdul H., Mithun P., Anurag V.V., Et al., Reac-tionless visual servoing of a multi-arm space robot combined with other manipulation tasks, Robotics and Autonomous Systems, 91, pp. 1-10, (2017)
[4] Sabatini M., Gasbarri P., Monti R., Et al., Vibration control of a flexible space manipulator during on orbit operations, Acta Astronautica, 73, pp. 109-121, (2012)
[5] Murotsu Y., Tsujio S., Senda K., Et al., Trajectory control of flexible manipulators on a free-flying space robot, IEEE Control Systems Magazine, 12, 3, pp. 51-57, (1992)
[6] Nanos K., Papadopoulos E.G., On the dynamics and control of flexible joint space manipulators, Control Engineering Practice, 45, pp. 230-243, (2015)
[7] George L.E., Book W.J., Inertial vibration damping of a flexible base manipulator, JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, 46, 3, pp. 798-806, (2003)
[8] Salehi M., Vossoughi G.R., High-precision imped- ance control method for flexible base moving manipulators, Advanced Robotics, 23, 1-2, pp. 65-87, (2009)
[9] Yang B.J., Calise A.J., Craig J.I., Adaptive output feedback control of a flexible base manipulator, Journal of Guidance Control & Dynamics, 30, 4, pp. 1068-1080, (2007)
[10] Chen Z.Y., Zhang T.T., Li Z.H., Hybrid control scheme consisting of adaptive and optimal controllers for flexible- base flexible-joint space manipulator with uncertain parameters, Proceedings of the 9th International Conference on Intelligent Human-Machine Systems and Cybernetics, pp. 341-345, (2017)

← 1 2 →