【摘要】 结合后退设计方法和自适应控制理论,对载体姿态可控的空间机器人系统提出了一种自适应跟踪控制算法。当系统的惯性参数未知时,该算法可以保证空间机器人的手端跟踪误差渐近趋于零。和已有的算法相比,所提出的算法可以消除Lyapunov函数导数表达式中的交叉项,明显改善系统的跟踪性能。对平面两关节空间机器人的仿真结果证实了算法的有效性。更多还原

【Abstract】 An adaptive control scheme is developed for the tracking control of space robots with an attitude controlled base by combining the back-stepping design approach and adaptive control theory.The proposed adaptive control scheme guarantees that the end-effector’s tracking errors converge to zero asymptotically despite the unknown inertial parameters.Compared with the previous results, the proposed one can eliminate the cross term contained in the derivative of Lyapunov function,and hence improve the tracking performance.Simulation results for a two-link planar space robot show the effectiveness of the proposed control scheme.更多还原