驱动力矩受限下双臂空间机器人轨迹跟踪控制

讨论基座姿态、位置均不控的自由漂浮双臂空间机器人在关节驱动力矩受限下其关节协调运动的控制问题. 运用拉格朗日第二类方程并耦合动量守恒关系建立动力学方程. 尔后,设计了基于饱和函数的控制方案,该方案引入具有饱和特性的双曲正切函数来控制关节力矩幅值. 最后,根据奇异扰动系统稳定性理论将系统分为降阶系统和边界层系统,分别利用李雅普诺夫函数证明其在原点呈指数稳定. 数值仿真进一步表明该方案的有效性和优越性.

TRAJECTORY TRACKING CONTROL FOR DUAL-ARM SPACE ROBOT WITH BOUNDED INPUT TORQUES

This paper studies the control of a dual-arm space robot system with bounded input torques to track a desired trajectory in the joint space, when the location of the base and the attitude are uncontrolled. Based on the Second Lagrange approach and the momentum conservation, a dynamics model of the dual-arm space robot system is built. Then, the saturated hyperbolic tangent function is adopted to design a new kind of control algorithms to control the driving torques of joints. Finally, the closed-loop error system is decomposed into a reduced-order model and a boundary-layer model based on the singular perturbation theory. The exponential stability of the state origin is proved by using the Lyapunov function. The numerical simulation results show the effectiveness and the superiority of the control algorithm.