柔性关节空间双臂机器人奇异摄动增广鲁棒自适应PD复合控制

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振动与冲击 ›› 2015, Vol. 34 ›› Issue (16) : 79-84.

论文

陈志勇，陈力

作者信息 +

Singular perturbation augmented robust adaptive PD composite control for flexible-joint dual-arm space robot

CHEN Zhi-yong，CHEN Li

Author information +

文章历史 +

摘要

为解决载体位姿无控柔性关节空间双臂机器人系统在外部干扰、未知载荷参数影响下关节运动控制问题，提出奇异摄动增广鲁棒自适应PD复合控制方法。以柔性关节空间双臂欠驱动式机器人及关节电机动力学子方程为设计基础，借助柔性补偿奇异摄动技术建立系统奇异摄动修正模型；针对系统外部干扰确界未知、载荷参数未知工况，为柔性关节空间双臂机器人设计由快变状态反馈控制、增广鲁棒自适应PD慢变控制组合而成的复合控制规律。仿真结果证实，所提奇异摄动增广鲁棒自适应PD复合控制方法可有效消除系统关节柔性、未知外部干扰及载荷参数影响，确保空间双臂机器人能精确执行预期关节运动任务。

Abstract

To solve the joint movement control problem of a flexible-joint dual-arm space robot system with an uncontrolled base under the effects of external disturbances and unknown load parameters, a singular perturbation augmented robust adaptive PD composite control method was proposed. On the design basis of the under-actuated robot dynamic sub-equations and joint motor dynamic sub-equations, a singular perturbation correction model of robot system was established by using the flexibility compensating singular perturbation technique. Then, the composite control law made up of a fast variable state feedback control and an augmented robust adaptive PD slow control were designed for a flexible-joint dual-arm space robot with the unknown upper bound external disturbances and unknown load parameters. Simulation results confirm that the influences of the joint flexibility, unknown external disturbances and unknown load parameters can be eliminated effectively by the presented singular perturbation augmented robust adaptive PD composite control method, and the desired joint movement tasks of dual-arm space robot are performed accurately.

导出引用

陈志勇，陈力. 柔性关节空间双臂机器人奇异摄动增广鲁棒自适应PD复合控制[J]. 振动与冲击, 2015, 34(16): 79-84

CHEN Zhi-yong，CHEN Li. Singular perturbation augmented robust adaptive PD composite control for flexible-joint dual-arm space robot[J]. Journal of Vibration and Shock, 2015, 34(16): 79-84

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