Adaptive Robust Anti-interference Control and Vibration Suppression for an Elastic-base Elastic-joint Space Robot
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摘要: 研究不确定弹性基和弹性关节空间机器人的抗扰运动控制及基座和关节弹性振动同步抑制问题.在对基座和关节弹性进行等效线性弹簧假设的基础上，建立了弹性基和弹性关节空间机器人的动力学方程，并推导了基于等效刚度思想的奇异摄动慢、快变子系统.对传统参数自适应控制律进行σ修正并与鲁棒抗扰控制相结合，对不确定参数和有界外部扰动影响下的慢变子系统提出了基座姿态和臂杆关节刚性运动轨迹跟踪的改进自适应鲁棒抗扰控制方案.使用高增益线性状态观测器对快变高阶量进行实时观测，针对快变子系统设计了基座和关节弹性振动同步抑制的改进最优控制方案.仿真示例分析，表明了所提混合控制方案在空间机器人抗扰运动控制及振动抑制上的有效性.Abstract: Anti-interference motion control and elastic vibration synchronous suppression of base and joints for an elastic-base elastic-joint space robot with uncertainties are studied. On the basis of equivalent linear spring assumptions about the elastic base and joints, the dynamic equations of the space robot are established, then both singular perturbation slow and fast subsystems are deduced with the equivalent stiffness concept. The traditional parameter adaptive control law is improved by using σ modification, and is then combined with the robust anti-interference control. An improved singular perturbation adaptive robust anti-interference control scheme is proposed for the slow subsystem to track the rigid motion trajectories of the base's attitude and links' joints subject to uncertain parameters and bounded external disturbances. A high-gain linear state observer is employed to measure the fast higher-order states in real time, and an improved optimal control method is designed for the fast subsystem to synchronously suppress the elastic vibrations of the base and joints. Simulation result demonstrates the validity of the presented hybrid control scheme in anti-interference motion control and vibration suppression of the space robot.
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Key words:
- Space robot /
- elastic-base /
- elastic-joint /
- anti-interference control /
- vibration suppression
1) 本文责任编委 孙富春 -
图 2 开启$\dot{\hat{\pmb{\varphi}}}$和$\pmb{\tau}_{rob}$时的轨迹跟踪情况
Fig. 2 Trajectory tracking with $\dot{\hat{\pmb{\varphi}}}$ and $\pmb{\tau}_{rob}$
图 3 关闭$\dot{\hat{\pmb{\varphi}}}$和$\pmb{\tau}_{rob}$时的轨迹跟踪情况
Fig. 3 Trajectory tracking without $\dot{\hat{\pmb{\varphi}}}$ and $\pmb{\tau}_{rob}$
图 4 开启和关闭$\dot{\hat{\pmb{\varphi}}}$和$\pmb{\tau}_{rob}$时的仿真结果
Fig. 4 Simulation results with and without $\dot{\hat{\pmb{\varphi}}}$ and $\pmb{\tau}_{rob}$
图 5 关闭$\dot{\hat{\pmb{\varphi}}}$和$\pmb{\tau}_{rob}$和$\pmb{\tau}^{f}_{n}$时的仿真结果
Fig. 5 Simulation results without $\dot{\hat{\pmb{\varphi}}}$, $\pmb{\tau}_{rob}$ and $\pmb{\tau}^{f}_{n}$
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