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摘要: 对于本体姿态受控而位置不受控的空间机械臂系统,考虑存在参数不确定性及非参数 不确定性,首先建立了系统的估计模型,并且提出了一种鲁棒复合自适应控制方法,其参数适应 律由估计误差和跟踪误差共同决定.证明了这种方法不仅可维持系统的全局渐近稳定,而且还 可快速收敛和减小跟踪误差.Abstract: For space manipulators with an attitude-controlled base and with parametric and nonparametric uncertainties, this paper develops a prediction model for the system, and presents a robust composite adaptive control algorithm in which the parameters are driven by both tracking errors and prediction errors. Results on globally asymptotic stability and quick tracking convergence are established and confirmed by simulation.
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Key words:
- Space manipulator /
- robust composite adaptive control
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