具有外部扰动及不确定系统参数的漂浮基空间机器人关节运动的增广鲁棒控制.pdfVIP

0254-6124/2010/30(3)-275–08 Chin. J. Space Sci. Chen Zhiyong, Chen Li. Robust control for space-based robot with external disturbances and uncertain parameters in joint space. Chin. J. Space Sci., 2010, 30(3): 275-282 ∗ ( 350002) Æ. , . , , ÆÆ. , , ; Æ , , . , . ; ; ; ; Æ V 42, TP 241 Robust Control for Space-based Robot With External Disturbances and Uncertain Parameters in Joint Space CHEN Zhiyong CHEN Li (College of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350002) Abstract The robust control problems were discussed for space-based robot system whose base was not controlled. The under-actuated dynamic equations of the system were derived through the Lagrange method and linear momentum conservation of the system. It was shown that the dynamic equations mentioned above can be linearly dependent on a group of inertial parameters. Based on the results and with the augmentation approach, a robust control scheme was developed for space-based robot system with uncertain payload parameters and external disturbances to track the desired trajectory in joint space. The control scheme proposed doesn’t require measuring the position, velocity and acceleration of the base with respect to the orbit due to an effective exploitation of the system dynamics. Besides, it is computationally simple, because the controller is always robust ∗ 2009-04-24 , 2010-03-26 E-mail: chenzhiyong0203@, Chnle@ 276 Chin. J. Space Sci. 2010, 30(3) to the unce