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首页> 外文期刊>Aerospace science and technology >Model reference adaptive state-dependent Riccati equation control of nonlinear uncertain systems: Regulation and tracking of free-floating space manipulators
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Model reference adaptive state-dependent Riccati equation control of nonlinear uncertain systems: Regulation and tracking of free-floating space manipulators

机译：非线性不确定系统的模型参考自适应状态相关Riccati方程控制：自由漂浮空间机械臂的调节和跟踪

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摘要

This work proposes a model reference adaptive state-dependent Riccati equation (SDRE) controller for nonlinear time-invariant systems considering uncertainty in the plant. The SDRE is vulnerable to uncertainty of nonlinear model, hence the adaptive structure is to compensate for the difference between a reference model and a real uncertain system. The application of the proposed method is dedicated to controlling a free-floating space manipulator (FFSM), a robotics system with a base in two modes: an inactive (no actuation or thrust) state, and a base reaction torque mode. A non-actuated heavy base FFSM probably performs a regulation or a tracking task precisely though that might not be a good solution. A new design is proposed for FFSM control: a heavy base is selected for base of a reference model and the uncertain system with proper weight of base will follow the reference system; and considering three motors for rotating back the base when it reorients from initial position. The new design has improved the precision of the FFSM and reduced the weight of the robot. A planar two degree-of-freedom and a 3D Stanford arm were modeled, simulated and analyzed to assess the performance of the proposed structure and adaptive SDRE controller; that successfully confirmed the claimed expectations. (C) 2018 Elsevier Masson SAS. All rights reserved.
机译：这项工作提出了一种模型参考自适应状态相关Riccati方程（SDRE）控制器，用于考虑设备不确定性的非线性时不变系统。 SDRE易受非线性模型不确定性的影响，因此自适应结构可补偿参考模型与实际不确定性系统之间的差异。所提出方法的应用致力于控制自由浮动空间操纵器（FFSM），具有基础的机器人系统处于两种模式：非活动（无致动或推力）状态和基础反作用转矩模式。非执行重型基地FFSM可能恰好执行调节或跟踪任务，尽管这可能不是一个好的解决方案。针对FFSM控制提出了一种新的设计：为参考模型的基础选择较重的基础，具有适当基础权重的不确定系统将跟随该参考系统；当基座从初始位置重新定向时，考虑使用三个电动机使基座旋转回去。新设计提高了FFSM的精度并减轻了机器人的重量。对平面的两个自由度和一个3D斯坦福臂进行建模，仿真和分析，以评估所提出的结构和自适应SDRE控制器的性能；成功证实了所声称的期望。 （C）2018 Elsevier Masson SAS。版权所有。

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