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首页> 外文期刊>Electronics >Research on Angle and Stiffness Cooperative Tracking Control of VSJ of Space Manipulator Based on LESO and NSFAR Control
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Research on Angle and Stiffness Cooperative Tracking Control of VSJ of Space Manipulator Based on LESO and NSFAR Control

机译：基于LESO和NSFAR控制的空间机械臂VSJ角刚度协同跟踪控制研究。

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With the increase in on-orbit maintenance and support requirements, the application of space manipulator is becoming more promising. However, how to control the vibration generated by the space manipulator has been a difficult problem to be solved. The advent of variable stiffness joint (VSJ) has brought about a dawn in solving this problem. But how to achieve coordinated control of joint angle and stiffness is still a problem to be solved, especially when considering system model parameter uncertainty, unknown disturbance and control input saturation. In order to realize the controllable attenuation of the vibration of the space flexible manipulator based on the variable stiffness joint, the dynamic model of the variable stiffness joint was constructed. Then the linear transformation and feedback linearization method are used to transform its complex nonlinear dynamic model system into a pseudo-linear system containing aggregate disturbance and input saturation constraints. This paper constructs a linear extended state observer (LESO) for estimating the state of unknown systems in pseudo-linear systems. Based on the idea of state feedback control, a Neural State Feedback Adaptive Robust (NSFAR) control is constructed by using Radial Basis Function Neural Network. The adaptive input saturation compensation control law is also designed by using Radial Basis Function Neural Network to deal with the input saturation compensation problem. The ultimate uniform bounded stability of the constructed system is proved by the stability analysis based on Lyapunov function. Finally, the effectiveness and superiority of the constructed tracking algorithm are verified by compared simulation and semi-physical experiment.
机译：随着在轨维护和支持要求的增加，空间操纵器的应用变得越来越有前途。然而，如何控制由空间操纵器产生的振动一直是要解决的难题。变刚度接头（VSJ）的出现为解决这一问题带来了曙光。但是如何实现关节角度和刚度的协调控制仍然是一个亟待解决的问题，尤其是在考虑系统模型参数不确定性，未知扰动和控制输入饱和的情况下。为了实现基于变刚度关节的空间柔性机械臂振动的可控衰减，建立了变刚度关节的动力学模型。然后使用线性变换和反馈线性化方法将其复杂的非线性动力学模型系统转换为包含聚集扰动和输入饱和约束的伪线性系统。本文构造了一个线性扩展状态观测器（LESO），用于估计伪线性系统中未知系统的状态。基于状态反馈控制的思想，利用径向基函数神经网络构造了神经状态反馈自适应鲁棒控制。还采用径向基函数神经网络设计了自适应输入饱和补偿控制律，以解决输入饱和补偿问题。通过基于李雅普诺夫函数的稳定性分析，证明了所构造系统的极限一致有界稳定性。最后，通过比较仿真和半物理实验验证了所构造跟踪算法的有效性和优越性。

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