空间机械臂载体与末端抓手协调运动的鲁棒与自适应混合控制方案

研究载体位置不受控制的空间机械臂载体与末端抓手协调运动的控制问题，结合系统动量守恒关系，建立了均与适当选择的惯性参数呈线性关系的系统动力学方程及协调运动的广义Jacobj矩阵，基于上述结果，针对系统中惯性参数不确定的情况，设计了载体姿态与机械臂末端抓手惯性空间轨迹协调运动的鲁棒与自适应混合控制方案，提出的控制方案具有不需要测量、反馈载体的位置、移动速度、移动加速度的优点，并由于对不确定参数采用保持鲁棒性的方式，减少了计算量，仿真运算证实了提出的控制方法的有效性。

ROBUST AND ADAPTIVE COMPOSITE CONTROL OF COORDIATED MOTION OF SPACE-BASED MANIPULATOR SYSTEM

The coordinated control of the base's attitude of space -b ased manipulator system and its arms is studied. With the momentum conservation of system, the kinematics and dynamics of the system are analyzed. It is shown t hat the generalized Jacobi matrix and dynamic equations of the system can be linearl y dependent on a set of inertial parameters. Based on the results proposed abo ve, the robust and adaptive composite control scheme of coordinated motion for b oth the base's attitude and its arms to track the desired trajectory in inertias pace is developed. The control scheme proposed above possesses the advantages th at no need to measure or feedback the position, velocity and acceleration o f t he base with respect to the orbit. In addition to this, it is computationally si mple, because we tried to make the controller robust to the uncertain inertial parameters rather than explicitly estimating them online. A twolink planar space -based manipulator system is simulated to verify the proposed control scheme.