基于能量法的空间机械臂的姿态控制稳定性.pdfVIP

Journal of Aerospace Science and Technology  国际航空航天科学, 2017, 5(1), 45‐53  Published Online March 2017 in Hans. /journal/jast  /10.12677/jast.2017.51006    Based on Energy Method of the Space Manipulator in Attitude Control Stability 1 2 Ping Huang , Xinsheng Ge 1 College of Mechanical and Electrical Engineering, Beijing Information Science and Technology University,  BISTU, Beijing   2 College of Applied Science, Beijing Information Science and Technology University, BISTU, Beijing       th th st Received: Mar. 10 , 2017; accepted: Mar. 28 , 2017; published: Mar. 31 , 2017  Abstract Firstly, the theory of passive space is used to prove that the space manipulator meets the passive conditions, by studying the dynamic characteristics of space manipulator. Then from the perspec‐ tive of energy, Lyapunov method is used to derive the control law of the system. The Lazar princi‐ ple is used to demonstrate that the system is asymptotically stable at the target position and that the stability of the space manipulator is analyzed. Finally, the simulation experiment is carried out in Matlab to verify the effectiveness of attitude control based on energy method. Keywords Space Manipulator, Passive, Energy Method, Attitude Control, Stability 基于能量法的空间机械臂的姿态控制稳定性 1 2 黄 平 ，戈新生 1北京信息科技大学机电工程学院，北京 2北京信息科技大学理学院，北京    收稿日期：2017年3月10 日；录用日期：2017年3月28 日；发布日期：2017年3月31 日  摘 要 通过研究空间机械臂的动力学特征，先用无源性理论证明其符合无源性条件。然后从能量的角度出发用 Lyapunov方法