Position and attitude active disturbance rejection control method for space robot based on sampling output

Abstract

The invention discloses a sampling output-based space robot position and attitude active disturbance rejection control method. Firstly, a transition process is arranged for position and attitude signals desired by a system through designing a tracking differentiator to generate smooth signals, over large tracking errors to generate over large control input signals to result in severe output overshoot at an initial moment can be avoided, and the differential signals of the desired signals are obtained to prepare for the controller design. Sampling output signals of the system are used to designa continuous-discrete expansion state observer, the system state and total nonlinear uncertainties are subjected to real-time estimation, the estimated values of the nonlinear uncertainties are compensated to a feedback combination formed by state estimation values outputted by the continuous-discrete expansion state observer and smooth signals and differential signals acquired by the tracking differentiator, a compound controller is formed, nonlinear factors such as internal and external interference can be prevented from executing adverse effects on the system, and a favorable guarantee isprovided for successful completion of space operation tasks.

Description

technical field [0001] The invention belongs to the field of servo control of a space robot system, and relates to a position and posture self-disturbance rejection control method of a space robot based on sampling output. Background technique [0002] With the deepening and expansion of human space activities, various forms of space vehicles such as space robots have emerged as the times require. Space robots operating in orbit are inevitably subject to external environmental disturbance moments such as gravity gradient moments, solar pressure moments, and aerodynamic moments, as well as moments generated by the rotation of the active parts of the payload, moments caused by flywheel installation errors, and difficult to accurately model. The friction torque of the solar array, the driving torque of the solar cell array, and the coupling torque of the flexible structure, etc., and the magnitude of these disturbance torques also change, that is, they have uncertainty. Theref...

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Problems solved by technology

[0005] Aiming at the problem of controlling the position and attitude of the space robot based on the sampling output, the present invention provides a position and attitude active disturbance rejection control method of the space robot based on the sampling output, which is used to solve the problem of nonlinear uncertain items such as internal and external disturbances contained in the space robot system , to ensure that the space robot can achieve precise position and attitude control, and then successfully complete various space manipulation tasks

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