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首页> 外文期刊>Aerospace and Electronic Systems, IEEE Transactions on >Prediction Error Based Adaptive Jacobian Tracking for Free-Floating Space Manipulators
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Prediction Error Based Adaptive Jacobian Tracking for Free-Floating Space Manipulators

机译：自由浮动空间机械臂的基于预测误差的自适应雅可比跟踪

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摘要

The work presented here investigates task-space trajectory tracking control for free-floating space robots with uncertain kinematics and dynamics. To deal with these two kinds of uncertainties, we propose a prediction error based adaptive Jacobian controller, which includes a modified task-space computed torque controller and two modified least-squares estimators. By defining a new variable that is termed as the estimate of the spacecraft angular acceleration, the proposed controller can work without requiring measurement of the spacecraft angular acceleration. The kinematic and dynamic parameter adaptations are driven by prediction errors. Using input-output stability analysis, we obtain explicit stability results of the closed-loop system and show the asymptotic convergence of the end-effector motion tracking errors of the free-floating manipulator. Furthermore, it is shown that the performance of the proposed controller has a tight relationship with the estimated generalized Jacobians of free-floating manipulators. Simulation results are presented to show the performance of the proposed controller, and in addition some implementation issues of the proposed control algorithm are discussed.
机译：本文介绍的工作研究了运动和动力学不确定的自由浮动空间机器人的任务空间轨迹跟踪控制。为了解决这两种不确定性，我们提出了一种基于预测误差的自适应雅可比控制器，该控制器包括一个改进的任务空间计算转矩控制器和两个改进的最小二乘估计器。通过定义一个称为航天器角加速度估计值的新变量，所提出的控制器可以工作而无需测量航天器角加速度。运动学和动态参数的适应是由预测误差驱动的。使用输入-输出稳定性分析，我们获得了闭环系统的显式稳定性结果，并显示了自由浮动机械手的末端执行器运动跟踪误差的渐近收敛性。此外，表明所提出的控制器的性能与自由浮动机械手的估计广义雅可比关系密切。仿真结果表明了该控制器的性能，并讨论了该控制算法的一些实现问题。

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