【摘要】 针对空间中自由漂浮多臂航天器的多臂协同问题,提出一种基于一致性理论的协同控制方法,采用有向通信拓扑与广义雅克比矩阵结合的方式,实现自由漂浮航天器多机械臂间的协同.首先,建立多机械臂间的通信关系有向图,确定“领导-跟随”体系下的主臂与从臂;其次,基于有向通信拓扑,进行主从臂末端运动规划,实现主臂运动向从臂的传递;再次,利用广义雅克比矩阵在动量守恒条件下进行末端运动向关节运动的映射,并基于一致性理论设计关节空间内的多臂协同运动控制器;最后,基于李雅普诺夫稳定性理论证明控制器的稳定性,并分析位置控制误差.仿真结果表明,所提出的控制方法可以实现多臂航天器系统空间操控任务中各机械臂的聚集、跟踪与位置协同.更多还原

【Abstract】 Aiming at the problem of cooperation between multi manipulators of a free-floating spacecraft in space, a collaborative control method based on consistency theory is proposed. This method combines the directed graph communication topology with the generalized Jacobian matrix to realize the cooperation between multiple manipulators of the free-floating spacecraft. Firstly, the directed graph of communication relationship between multiple manipulators is established to determine the master arm and slave arm under the “leader-follower” system. Secondly, based on the directed communication topology, the planning of master and slave manipulators’ motion is carried out to realize the transmission of master arm’s motion to the slave arms. Thirdly, the generalized Jacobian matrix is used to map the end motion to joint motion under the condition of momentum conservation, and the multi-arms’ collaborative motion controller in the joint space is designed based on consistency theory. Finally, the stability of the controller is proved based on the Lyapunov stability theory, and the position control error is analyzed. The simulation results show that the proposed control method can realize the aggregation, tracking and position coordination of each manipulator in the space control task of the multi-arm spacecraft system.更多还原