| 空间机器人的增广自适应神经网络补偿控制 |
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| 引用本文： | 陈志勇,陈力.空间机器人的增广自适应神经网络补偿控制[J].系统仿真学报,2011,23(12):2750-2755. |
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| 作者姓名： | 陈志勇 陈力 |
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| 作者单位： | 福州大学机械工程及自动化学院,福州,350108 |
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| 基金项目： | 国家自然科学基金(10672040) |
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| 摘 要： | 研究了具有外部扰动空间机器人系统的补偿控制问题。首先,给出了漂浮基空间机器人系统的动力学方程。进而借助于增广变量思想,针对系统存在有未知惯性参数及外部扰动的复杂情况,先后设计了空间机器人系统关节运动、末端爪手运动的增广自适应神经网络补偿控制方案。所提控制方案无需对载体的位置、线性速度和线性加速度进行实时地测量与反馈;且较比传统自适应控制方法,又不要求动力学方程满足关于系统惯性参数的线性函数关系,因此有效避免了对系统回归矩阵进行繁琐提取的麻烦。仿真运算,验证了上述控制方法的有效性。
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| 关 键 词： | 空间机器人 外部扰动 关节运动 末端爪手 增广变量思想 神经网络补偿控制 |
Augmented Adaptive Neural Network Compensation Control of Space-based Robot |
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| CHEN Zhi-yong,CHEN Li.Augmented Adaptive Neural Network Compensation Control of Space-based Robot[J].Journal of System Simulation,2011,23(12):2750-2755. |
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| Authors: | CHEN Zhi-yong CHEN Li |
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| Institution: | CHEN Zhi-yong,CHEN Li(College of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350108,China) |
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| Abstract: | The compensation control problems of space-based robot system with external disturbances were studied.The dynamic equations of the system were given firstly.Then,with the augmentation approach,the augmented adaptive neural network compensation control schemes were developed for space-based robot with unknown inertial parameters and external disturbances to track the desired trajectories in joint space and in inertial space,respectively.The control schemes proposed don't require the measurements and feedback... |
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| Keywords: | space-based robot external disturbances joint motion end-effector augmentation approach neural network compensation control |
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