探讨了本体位置与姿态均不受控的漂浮基空间机器人在时间延迟(简称时延)情况下惯性空间轨迹跟踪的控制问题.利用拉格朗日方法并结合系统动量守恒关系,分析、建立了漂浮基空间机器人完全能控形式的系统动力学模型及运动Jacobi关系.以此为基础,针对系统存在时延的情况,利用泰勒级数预测、逼近的方法,建立了适用于时延情况下控制系统设计的数学模型.利用该模型,提出了一种空间机器人在时延情况下的改进非线性反馈控制方案.然后运用Lyapunov第二类方法,结合范数以及图形分析的方法证明了在时延情况下整个闭环控制系统的渐近稳定性.文中提到的控制方案能够有效地克服系统存在时延的影响,控制漂浮基空间机器人末端爪手跟踪惯性空间的期望轨迹.系统数值仿真结果证明了上述控制方案的有效性与精确性.
This paper discusses the control of a free-floating space-based robot system with time delay to track the desired trajectory in inertial space when both the attitude and location of the base are uncontrolled. Combining the relationship of the linear momentum conservation and the Lagrange approach, the full-controlled dynamic equation and the Jacobian relation of the space-based robot system are analyzed and established. Based on the above results, for the case of a space-based robot system with time delay, mathematical models suitable for the design of control systems under the situation of time delay are established by using the Taylor series predictive and approximation method. Using the said mathematical model, an improved nonlinear feedback control scheme of a space-based robot system with time delay is proposed. Meanwhile, Lyapunov's second method is employed in combination with the way of norms and graphical analysis to prove the whole closed-loop control system's asymptotic stability with the existence of time delay. The above control scheme can effectively control the end-effector of a space-based robot to stably track the desired trajectory in inertial space. The effect of the controllers is testified by computer simulation.
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