空间机械臂抓取目标的碰撞前构型规划与控制问题研究.pdf

“Adaptive-Improved Distributed Momentum Control” making use of on-line parameter identification, then takes these two control algorithms into the single- arm and dual-arm systems. The simulation results show that they can overcome the effect of parameters errors, guarantees the stability of base attitude. At the same time, the simulation result verifies the “GSAC” can control the effect of parameters errors. Adaptive control can overcome the effect of constant or slowly-varying uncertain on control algorithm. When the system is effected by outer disturbance, quickly-varying uncertaion and unmodeled dynamics, its performance is not very well, but robust control has obvious advantages. This part integrates the theory of robust control with the control of “RNC” and “IDMC”, obtains two kind of robust control, and then takes them into the single-arm and dual-arm system. The simulation results show the effectiveness of this method, keep the stability of space manipulator system. Keywords: space manipulator; pre-impact configuration; on-line parameter identification; adaptive control; robust control - IV - T T I T AbstractT IIIT 1 1 1.1 1 1.1.1 1 1.1.2 1 1.2 3 1.2.1 6 1.2.2 8 1.2.3 10 1.2.4 12 1.2.5 13 1.3 14 2 16 2.1 16 2.2 17 2.2.1 18 2.2.2 () 1