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Augmentation adaptive fuzzy control method for space robot space trajectory tracking

A space robot, adaptive fuzzy technology, applied in the direction of adaptive control, two-dimensional position/channel control, general control system, etc., can solve the problem of space robot operation space trajectory tracking under uncertain model parameters

Inactive Publication Date: 2018-08-24
FUZHOU UNIV
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Problems solved by technology

[0003] The purpose of the present invention proposes an augmented adaptive fuzzy control algorithm to solve the control problem of space robot operation space trajectory tracking under the influence of uncertain system model parameters and external disturbances

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  • Augmentation adaptive fuzzy control method for space robot space trajectory tracking
  • Augmentation adaptive fuzzy control method for space robot space trajectory tracking
  • Augmentation adaptive fuzzy control method for space robot space trajectory tracking

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[0052] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0053] The technical solution of the present invention is: an augmented adaptive fuzzy control algorithm for floating-based space robot operation space trajectory tracking, including the following specific steps:

[0054] Step S1: Establish the dynamic equation of the joint space system in an underactuated form;

[0055] Step S2: Using the system motion relationship, deduce the corresponding operating space system dynamics equation;

[0056] Step S3: Applying the idea of ​​fuzzy approximation to perform fuzzy approximation processing on each uncertain function item of the system;

[0057] Step S4: Introduce an adaptive regulation law to adjust the fuzzy weights in real time, and then design an adaptive fuzzy controller to achieve precise tracking of the desired trajectory in the system operation space.

[0058] In an embodiment of the p...

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Abstract

The invention provides an augmentation adaptive fuzzy control algorithm for free-floating space robot space trajectory tracking. The algorithm comprises the following steps: S1: establishing an underactuated joint space system dynamics equation; S2: deriving corresponding operation space system dynamics equation by using the system kinematic relationship; S3: performing fuzzy approximation treatment on the uncertain function items of the system based on fuzzy approximation; S4: introducing a self-adaptive regulation law to perform real-time regulation of the fuzzy weight, and further designinga self-adaptive fuzzy controller to realize accurate tracking of the expected trajectory of the system operation space. The control algorithm can be applied to a space robot underactuated model withuncertain model parameters and external disturbance, and can realize accurate tracking of the operation space trajectory; the calculated amount of the algorithm is reduced; the mechanical arm joint control moment and the carrier attitude control moment are separated to facilitate practical application.

Description

technical field [0001] The invention belongs to the field of robot intelligent control and numerical simulation, and in particular relates to an augmented self-adaptive fuzzy control method for space robot operation space trajectory tracking. Background technique [0002] With the rapid development of aerospace technology, space robots have become the main tool for space development and construction. Since the base of the carrier is not fixed, the dynamic modeling and nonlinear control problems of space robots in the weightless environment of space are much more complicated than those of ground robots. In order to reduce the labor intensity of astronauts and improve the efficiency of space operations, space robots are often required to have certain autonomy and high-precision operation capabilities, so the design of their core control systems must be solved. In order to save and control fuel consumption and improve the overall service life of the system, the space robot car...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04G05D1/02
CPCG05B13/04G05B13/042G05D1/0212
Inventor 陈志勇李振汉王奋勇郑永铭
Owner FUZHOU UNIV
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