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工程力学  2014 

执行器受限空间机器人的模糊神经网络控制

DOI: 10.6052/j.issn.1000-4750.2012.11.0840, PP. 190-197

Keywords: 漂浮基空间机器人,执行器输出力矩受限,有限差分法,轨迹跟踪,自适应模糊神经网络控制

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Abstract:

空间机器人关节执行器输出力矩幅值及幅值变化率受限的情况,是其在太空应用中不可避免要面临的实际问题。为此该文讨论了关节执行器输出力矩幅值及幅值率受限情况下参数未知空间机器人系统协调运动的动力学控制问题。依据系统动量守恒关系和拉格朗日第二类方程,推导了漂浮基空间机器人系统的动力学方程。以此为基础,针对关节执行器输出力矩幅值及幅值率受限的情况,设计了一种自适应模糊神经网络控制器,以使空间机器人系统的本体姿态和机械臂关节铰协调地跟踪各自在关节空间的期望运动轨迹。该控制方案由自适应模糊神经网络控制器及抗饱和参数自适应律构成。首先利用有限差分法将幅值率受限条件转化为幅值受限条件,并与该文预设的力矩受限条件比较以确定每个采样时刻的力矩动态受限范围;然后再通过设计一个抗饱和参数自适应律来确保执行器的输出力矩在动态受限范围内。基于Lyapunov稳定性理论证明了该控制器可确保控制系统是渐近稳定的。仿真对比实验证明了该控制方案的有效性。

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