双臂空间机器人的关节空间改进鲁棒控制
Improving Robust Control of Dual-arm Space Robot's Joint Space

利用拉格朗日法及系统动量守恒关系,建立了双臂空间机器人的动力学模型;通过引入参数自适应调节律对系统不确定性边界值进行在线预估,基于增广法提出一种区别于传统鲁棒控制的改进鲁棒控制方案。通过对参数自适应调节律的开启与闭合的仿真结果表明,所提改进鲁棒控制方案对驱动具有不确定性双臂空间机器人执行所指定的双臂关节运动具有良好的控制效果和抗扰动能力。
The dynamic equations model of the dual-arm space robot are derived with the Lagrange method and the linear momentum conservation relations; through the adaptive adjustment of parameters to estimate the boundary of uncertainties online, we propose an improved robust control scheme based on the augmentation approach, which is different from the traditional robust control scheme. Through opening and closing the adaptive adjustments of parameters, the simulation results show that the improved robust control scheme we proposed has good control effect on and anti-disturbance capacity of enabling the dual-arm space robot with uncertainties to perform the specified joint motions of the dual-arm space robot