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Robust differential game control method for multi-robot on-orbit assembly attitude stability.

A multi-robot, stable control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as the inability to guarantee optimality

Active Publication Date: 2020-01-17
RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN +1
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Problems solved by technology

However, because the method described in this document divides the control into two parts, the obtained control strategy is not a strict Nash equilibrium strategy, and the optimality cannot be guaranteed; A nonlinear model does not apply

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  • Robust differential game control method for multi-robot on-orbit assembly attitude stability.
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  • Robust differential game control method for multi-robot on-orbit assembly attitude stability.

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Embodiment Construction

[0033] The invention aims at the assembly body and the combination formed by a plurality of robots, and models the attitude stability control problem with interference as a game problem among the multi-robots. The attitude dynamics model of the assembly is established by using the moment of inertia obtained from the identification; the uncertain dynamics of the model uncertainty and external disturbance torque are obtained by using the disturbance observer observation, and the attitude dynamics model is improved; then the above attitude dynamics model Written in state-dependent form. The differential game model is established by using the state-related attitude dynamics model of the assembly and the performance index functions of each robot; after that, the HJ equation is obtained and solved by optimizing the performance index functions, and the expression of the state feedback control strategy can be obtained, which can be used directly online.

[0034] In the present inventi...

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Abstract

The invention provides a robust differential game control method for multi-robot on-orbit assembly attitude stability. The method aims at an assembly formed by an assembly body and multiple robots, and models an attitude stability control problem with interference as a game problem among the multiple robots. The method comprises the following steps: establishing an attitude dynamics model of the assembly by using rotational inertia obtained by identification; observing by using an interference observer to obtain an external interference torque, and improving the attitude dynamics model; writing the attitude dynamics model into a state related form; establishing a differential game model by using the state related assembly attitude dynamics model and a performance index function of each robot; and obtaining an HJ equation by optimizing the performance index function, and solving the HJ equation to obtain a state feedback control strategy expression. Since an observation result of the interference observer is directly added to the game model, the obtained control strategy is a Nash equilibrium strategy with strict significance, and the control strategy has a good suppression effect on uncertain factors such as modeling uncertainty and external interference, and has certain robustness.

Description

technical field [0001] The invention relates to a multi-robot on-orbit assembly attitude stabilization control method, in particular to a multi-robot on-orbit assembly attitude stability robust differential game control method. Background technique [0002] In space missions, some larger mission payloads cannot be launched as a whole at one time, and often need to be assembled in orbit after multiple component launches. In assembly, it is necessary to adjust the posture of the assembly through the assembly robot. The usual way is to solve and distribute to multiple robots through centralized control, but this method is not optimal. [0003] The differential game method optimizes the objective functions of multiple robots independently, obtains their respective control strategies in a distributed manner, and realizes the attitude adjustment of the assembly. The document "Game Theoretic Strategies for Spacecraft Rendezvous and Motion Synchronization, AIAA GNCC, 2012" disclos...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 罗建军柴源王明明韩楠王嘉文
Owner RES & DEV INST OF NORTHWESTERN POLYTECHNICAL UNIV IN SHENZHEN
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