宇航学报

宇航学报 ›› 2016, Vol. 37 ›› Issue (7): 846-853.doi: 10.3873/j.issn.1000-1328.2016.07.011

• 制导、导航与控制 • 上一篇    下一篇

自由漂浮空间机器人末端轨迹优化跟踪控制

羊帆，张国良，原磊，陈志侃，吴戈   

  1. 1. 火箭军工程大学，西安710025；2. 宝鸡市高新技术研究所，宝鸡721000；
    3. 中航飞机股份有限公司研发中心，阎良710089
  • 收稿日期:2015-10-12 修回日期:2016-01-06 出版日期:2016-07-15 发布日期:2016-07-25

End Effector Optimal Tracking Control of Free Floating Space Robot

YANG Fan, ZHANG Guo liang , YUAN Lei, CHEN Zhi kan, WU Ge   

  1. 1. Rocket Forces University of Engineering, Xi’an 710025, China;
     2. Baoji Institute of High and New Technology, Baoji 721000, China;
    3. R&D Center of AVIC Aircraft Co. Ltd., Yanliang, 710089, China
  • Received:2015-10-12 Revised:2016-01-06 Online:2016-07-15 Published:2016-07-25

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摘要：

针对自由漂浮空间机器人(FFSR)末端轨迹跟踪优化控制中惯性参数不确定的问题，基于状态依赖Riccati方程（SDRE），提出一种采用标称SDRE控制器与补偿SDRE控制器相结合的组合优化控制器，通过SDRE基本理论及李雅普诺夫方法证明了控制方法能够实现系统跟踪的能量优化和渐近稳定，实现了FFSR在广义雅克比矩阵非奇异条件下的末端轨迹优化跟踪控制。数值仿真表明，控制器能够实现对于期望末端轨迹的有效跟踪。

关键词: 状态依赖Riccati方程(SDRE), 惯性参数不确定, 优化跟踪控制, 空间机器人

Abstract:

For the problem of end-effector optimal trajectory tracking control of free-floating space robot (FFSR) with uncertain inertial parameters, a combined optimization control method based on state dependent Riccati equation (SDRE) which includes nominal controller and compensated controller is presented. The optimal property of controller and asymptotic stability of the system are proved by SDRE theory and Lyapunov function. And then, if the Jacobi matrix is non-singular, the end-effector optimal tracking of FFSR can be realized. Finally, a numerical simulation is given to prove the feasibility and effectiveness of the proposed control strategy.

Key words: State dependent Riccati equation (SDRE), Inertial parameter uncertainty, Optimal tracking control, Free-floating space robot (FFSR)

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