空间绳系机器人目标抓捕鲁棒自适应控制器设计

黄攀峰; 胡永新; 王东科; 孟中杰; 刘正雄

doi:10.16383/j.aas.2017.c150602

空间绳系机器人目标抓捕鲁棒自适应控制器设计

doi: 10.16383/j.aas.2017.c150602

黄攀峰^1,2, ,,
胡永新^1,2,,
王东科^1,2,,
孟中杰^1,2,,
刘正雄^1,2,

1.
西北工业大学航天学院智能机器人研究中心西安 710072
2.
西北工业大学航天飞行动力学技术国家重点实验室西安 710072

基金项目:

国家自然科学基金 61005062

国家自然科学基金 60805034

国家自然科学基金 11272256

详细信息

作者简介:
胡永新西北工业大学航天学院博士研究生.主要研究方向为空间绳系机器人动力学与控制, 空间绳系装置对非合作目标抓捕控制. E-mail: hu.yongxin@163.com

王东科西北工业大学博士.主要研究方向为空间绳系系统动力学建模, 非线性系统自适应控制. E-mail: wdkly.student@gmail.com

孟中杰博士, 西北工业大学航天学院副教授.主要研究方向为空间绳系机器人动力学与控制, 智能飞行器系统. E-mail: mengzhongjie@nwpu.edu.cn

刘正雄博士, 西北工业大学航天学院讲师.主要研究方向为空间遥操作, 多体动力学和人机交互.E-mail:liuzhengxiong@nwpu.edu.cn

通讯作者:
黄攀峰西北工业大学航天学院教授.主要研究方向为空间机器人, 绳系空间机器人, 智能控制, 机器视觉, 空间遥操作.E-mail:pfhuang@nwpu.edu.cn

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出版历程
- 收稿日期: 2015-09-22
- 录用日期: 2016-05-16
- 刊出日期: 2017-04-20

Capturing the Target for a Tethered Space Robot Using Robust Adaptive Controller

HUANG Pan-Feng^{1,2
, ,},
HU Yong-Xin^{1,2
,},
WANG Dong-Ke^{1,2
,},
MENG Zhong-Jie^{1,2
,},
LIU Zheng-Xiong^{1,2
,}

1.
Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072
2.
National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072

Funds:

National Natural Science Foundation of China 61005062

National Natural Science Foundation of China 60805034

National Natural Science Foundation of China 11272256

More Information

Author Bio:
Ph. D. candidate at the School of Astronautics, Northwestern Polytechnical University. His research interest covers dynamic and control of tethered space robot, and control of the uncooperative target captured via tethered device

Ph. D. at Northwestern Polytechnical University. His research interest covers dynamic modeling for space tethered system, and adaptive control for nonlinear systems

Ph. D., associate professor at the School of Astronautics, Northwestern Polytechnical University. His research interest covers dynamics and control of tethered space robots, and intelligent spacecraft system

Ph. D., lecturer at the School of Astronautics, Northwestern Polytechnical University. His research interest covers space teleoperation, multi-body dynamics, and man-machine interaction

Corresponding author: HUANG Pan-Feng Professor at the School of Astronautics, Northwestern Polytechnical University. His research interest covers space robotics, tethered space robotics, intelligent control, machine vision, and space teleoperation. Corresponding author of this paper

摘要

摘要: 针对空间绳系机器人（Tethered space robot，TSR）目标抓捕过程中的稳定控制问题，建立空间绳系机器人系统模型，根据阻抗控制原理，设计基于位置的阻抗控制方法；针对空间绳系机器人系统的模型不确定性问题，利用神经网络对不确定性进行估计补偿，设计鲁棒项对空间系绳干扰和神经网络估计误差的影响进行抑制，在此基础上设计空间绳系机器人目标抓捕鲁棒自适应稳定控制器，并进行稳定性证明.最后对设计的控制器进行仿真验证.作为对比，对无鲁棒项自适应的稳定控制器进行仿真.仿真结果表明，设计的基于阻抗控制的鲁棒自适应控制可以实现对空间绳系机器人目标抓捕过程中的稳定控制，与无鲁棒项自适应的稳定控制器仿真结果相比，本文采用的鲁棒自适应控制方法可以有效地对不确定性进行补偿，控制过程中超调量更小，收敛时间更短，并且控制精度更高.
- 空间绳系机器人 /
- 目标捕获 /
- 阻抗控制 /
- 鲁棒自适应控制
Abstract: Aimed at the problem of stabilization for a tethered space robot (TSR) capturing a target, a position-based impedance control is presented based on the model of a tethered space robot system. For the problem of model uncertainty of the tethered space robot system, an artificial neutral network (ANN) is used to estimate and compensate for the uncertainty, and a robust term is designed to repress the interference of tether and the effect of the estimation deviation by the ANN. Then a robust and adaptive controller for the TSR capturing a target is designed, and the stabilization of the controller is demonstrated. For the purpose of comparison, a simulation for an adaptive controller without the robust term is made, and the result shows that the controller designed in this paper can guarantee the stabilization during the TSR capturing a target. Compared to the adaptive controller without the robust term, the robust adaptive controller can compensate for the uncertainty effectively, with smaller overshoot, less convergence time, and higher control accuracy during the control process.
- Tethered space robot (TSR) /
- target capturing /
- impedance control /
- robust adaptive control
注释:

1) 本文责任编委孙富春

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图 1 空间绳系机器人目标抓捕示意图

Fig. 1 Target capture of the TSR

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图 2 空间绳系机器人碰撞力示意图

Fig. 2 The collision force of the TSR

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图 3 基于位置的空间绳系机器人阻抗控制

Fig. 3 Block diagram of the impedance controller based on position for the TSR

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图 4 空间绳系机器人内环位置控制器框图

Fig. 4 Block diagram of the inner loop position controller for the TSR

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图 5 姿态角跟踪误差变化曲线

Fig. 5 The tracking deviation of the attitude angle

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图 6 面内角跟踪误差变化曲线

Fig. 6 The tracking deviation of the in-plane angle

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图 7 系绳长度跟踪误差变化曲线

Fig. 7 The tracking deviation of the tether length

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图 8 抓捕目标欧拉姿态角变化曲线

Fig. 8 The Eular attitude angle of the target

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图 9 抓捕目标位置变化曲线

Fig. 9 The position of the target

下载: 全尺寸图片幻灯片

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空间绳系机器人目标抓捕鲁棒自适应控制器设计

doi: 10.16383/j.aas.2017.c150602

通讯作者:
黄攀峰西北工业大学航天学院教授.主要研究方向为空间机器人, 绳系空间机器人, 智能控制, 机器视觉, 空间遥操作.E-mail:pfhuang@nwpu.edu.cn

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Capturing the Target for a Tethered Space Robot Using Robust Adaptive Controller

Corresponding author: HUANG Pan-Feng Professor at the School of Astronautics, Northwestern Polytechnical University. His research interest covers space robotics, tethered space robotics, intelligent control, machine vision, and space teleoperation. Corresponding author of this paper

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目录

留言板

空间绳系机器人目标抓捕鲁棒自适应控制器设计

doi: 10.16383/j.aas.2017.c150602

通讯作者: 黄攀峰 西北工业大学航天学院教授.主要研究方向为空间机器人, 绳系空间机器人, 智能控制, 机器视觉, 空间遥操作.E-mail:pfhuang@nwpu.edu.cn

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出版历程

Capturing the Target for a Tethered Space Robot Using Robust Adaptive Controller

Corresponding author: HUANG Pan-Feng Professor at the School of Astronautics, Northwestern Polytechnical University. His research interest covers space robotics, tethered space robotics, intelligent control, machine vision, and space teleoperation. Corresponding author of this paper

计量

出版历程

目录

通讯作者:
黄攀峰西北工业大学航天学院教授.主要研究方向为空间机器人, 绳系空间机器人, 智能控制, 机器视觉, 空间遥操作.E-mail:pfhuang@nwpu.edu.cn