全柔性杆空间机械臂动力学与运动L2增益抗扰鲁棒反演控制

摘要/Abstract

摘要：

讨论了全柔性杆空间机械臂系统动力学、运动L2增益抗扰鲁棒反演控制。结合拉格朗日方法、动量守恒关系和假设模态法对系统进行动力学分析，获得了系统的动力学方程。基于系统双时标模型，采用奇异摄动法，将系统降阶分解为两个子系统：描述关节刚性运动的慢变子系统，描述柔性杆振动的快变子系统。为慢变子系统设计了对外部有界干扰具有抑制作用的鲁棒反演控制器，使外部有界干扰对系统性能输出的L2增益小于给定值；基于线性系统最优控制理论实现了快变子系统的控制，以抑制由臂杆柔性引起的振动。数值仿真说明了所设计混合控制器的可行性和有效性。

关键词: 空间机械臂, 全柔性杆, L2增益, 鲁棒反演控制, 主动抑振

Abstract: Dynamics model and anti-disturbance L2 gain robust backstepping control for space manipulators with fully flexible links were discussed. A dynamic model of the system was successively derived by combining with Lagrange equations, the system linear momentum and assumed mode method. Based on singular perturbation method, the system was decomposed into a slow subsystem which was described joint rigid trajectory tracking, and a fast subsystem which was described the vibrations of flexible links. A robust backstepping controller which made the external bounded disturbances had the performance of the L2 gain of the output system is less than the given value. And the controller also might suppress external bounded interferences. Vibrations of the flexible links were suppressed by optimal control theory of linear systems for the fast subsystem. Numerical simulations show the feasibility and effectiveness of the hybrid control.

Key words: space manipulator, fully flexible link, L2 gain, robust backstepping control, active vibration suppression

中图分类号:

TP241

张丽娇, 陈力. 全柔性杆空间机械臂动力学与运动L2增益抗扰鲁棒反演控制[J]. 中国机械工程.

ZHANG Lijiao, CHEN Li.

Dynamics Model and Anti-disturbance L2 Gain Robust Backstepping Control for Space Manipulators with Fully Flexible Links

[J]. China Mechanical Engineering.

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