漂浮基空间机械臂关节空间轨迹的鲁棒自适应跟踪控制

本文讨论了具有不确定系统参数的漂浮基空间机械臂系统的控制问题，由于截体的位置与姿态均不变控制，空间机械臂系统的控制方程失去了关于系统惯性参数的线性性质，给控制系统设计带来极大的困难，基于增广变量的思想，我们克服了上述难点，保持了控制方程关于系统惯性参数的线性关系；在此基础上，针对系统中机械臂参数不确定，载荷参数未知的情况，提出了关节空间轨迹追踪的鲁棒自适应控制方案，并应用Lyapunov直接方法对上述控制方案的渐近稳定性条件作了证明，提出的控制方案适用于空间站舱内机械手控制系统设计，仿真运算证实了该方法的有效性。

Robust Adaptive Control for Free-floating Space Manipulator to Track Desired Trajectory in Jointspace

In this paper, the control problem of free-floating space manipulator system with uncertain parameters was studied. Because the base of space manipulator is not controlled and it is free-floating, the dynamic equations of space manipulator system no longer be linearly parameterized. It results the control of space manipulator system becomes very difficult. Based on the idea of augmentation approach, the difficulty proposed above is overcome, and the robust adaptive control scheme for space manipulator to track the desired trajectory in jointspace was developed. The asymptotic stability of the control scheme was proved with Lyapunov method. The proposed control scheme can be applied to the design of the control system of manipulator used in the cabin. A two-link planar space manipulator system is simulated to verify the proposed control scheme.