Anti-interference iterative learning control method for space manipulator system for capturing non-cooperative targets

Abstract

An anti-interference iterative learning control method for space manipulator system for capturing non-cooperative targets includes first analyzing and classifying multi-source interference of the space manipulator system in the case of capturing non-cooperative targets in orbit, and establishing a system coupling dynamic model containing the multi-source interference; designing a disturbance observer to estimate and compensate for external disturbance torque and disturbance torque caused by the target non-cooperation, adopting robust H8 control to suppress the random noise of an internal sensor of the space manipulator system with a bounded norm and evaluated errors of the disturbance observer, and using iterative learning control to perform iterative correction on trajectory tracking errors of the system; finally combining the control based on the disturbance observer, the robust H8 control and the iterative learning control, and forming a complete anti-interference iterative learningcontroller, and solving a gain matrix of the disturbance observer and the anti-interference iterative learning controller. The anti-interference iterative learning control method has the advantages of high anti-interference capability and high trajectory tracking control precision, and can be used for in-orbit high-precision operation control of the space manipulator system for capturing the non-cooperative targets.

Description

technical field [0001] The invention relates to a space manipulator system anti-interference iterative learning control method for capturing non-cooperative targets. The proposed method fully utilizes the characteristics of different interferences of the space manipulator system when capturing non-cooperative targets, and establishes a multi-source interference The coupled dynamic model can suppress and compensate multi-source interference, and at the same time improve the accuracy of system trajectory tracking control, which can be used for on-orbit high-precision operation control of space manipulator systems that capture non-cooperative targets. Background technique [0002] The space manipulator system is a highly integrated space electromechanical system integrating mechanics, electricity, heat and control. With the rapid development of space technology, especially the birth and successful application of space stations, space shuttles, space robots, etc., the space mani...

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Problems solved by technology

[0004] The problem solved by the technology of the present invention is: to overcome the problem that the existing control algorithm of the space manipulator system for capturing non-cooperative targets can only address the problem of a single type of interference and the control accuracy is not high, and proposes a system with both interference compensation and interference suppression capabilities High-precision anti-disturbance iterative learning control method, in which a disturbance observer is designed to estimate and compensate the modelable external disturbance, using H ∞ The control suppresses the norm-bounded internal random noise and the error of the disturbance observer, and uses iterative learning control to iteratively correct the trajectory tracking error to further improve the control accuracy, thereby meeting the requirements of the space manipulator system when dealing with non-cooperative targets. Interference ability and high precision control requirements

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