A Control Method for Space Robots Independent of Model Parameters

Abstract

The invention discloses a space robot control method not depending on model parameters. The method comprises the following steps: according to the number of degrees of freedom of the space robot, the number of control channels is determined, and the number of control channels is the same as the number of degrees of freedom; according to a platform attitude angle and an angular velocity of the space robot, and a joint angle and a joint angular velocity of each arm rod of a mechanical arm, an adaptive sliding mode controller for each control channel is determined; according to a high-order state observer of the space robot, a platform angular velocity, an angular velocity estimation amount of each arm rod of the mechanical arm and internal and external disturbance estimation amounts of the space robot are obtained; and the platform angular velocity and the angular velocity estimation amount of each arm rod of the mechanical arm are used for replacing the platform angular velocity and the angular velocity measurement amount of each arm rod of the mechanical arm, and the adaptive sliding mode controller is updated. The method of the invention does not depend on system parameters, and precise control on the space robot can be improved.

Description

technical field [0001] The invention relates to a space robot control method, in particular to a strong robustness self-adaptive variable structure control design with a high-order state observer that does not depend on model parameters, and belongs to the field of space robots. Background technique [0002] The space robot system is a typical strongly nonlinear and strongly coupled system, and there are problems such as parameter uncertainty, external disturbance and unmodeled dynamics in the application, so its control problem is relatively complicated. At present, many control methods are applied to robot systems, such as adaptive PID control (Kuc T Y, Han W G. An Adaptive PID Learning Control of Robot Manipulators. Automatica, 2000, 36(5): 717-725.), sliding mode Variable Structure Control (Man Z H, Palaniswami M. Robust Tracking Control for Rigid Robotic Manipulators. IEEE Transactions on Automatic Control, 1994, 39(1): 154-159.), Adaptive Control (Xu Y, ShumH-Y, Lee J-...

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Problems solved by technology

[0004] However, the decentralized control scheme also has technical difficulties in its design

First of all, since each joint is designed independently, the influence of other joints and platform motion are external disturbances to the controller; and, because joint angular accelerations and even angular velocities are difficult to measure, these disturbances cannot be measured, and it is difficult to estimate the upper limit. The robustness of the controller places high demands on the

Secondly, in the distributed control scheme, the mass characteristic parameters (inertia) of each joint are time-varying in a large range, which poses a challenge to the adaptability of the controller's parameter uncertainty; Need to design a controller that only needs to measure joint angles

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