Dynamic control method, system, device and medium for floating-based space robot

Abstract

The present invention relates to the field of space robot technology, specifically disclosing a method, system, device, and medium for dynamic control of a floating-based space robot. The method comprises: introducing robot interference terms, parameter perturbation terms, and uncertainty terms into an original dynamic model used to control the floating-based space robot to generate a target dynamic model; generating a target vector based on the current state feedback value of the target floating-based space robot and in accordance with the target dynamic model and a corresponding target dynamic controller; wherein the target vector is a vector representing the current control force and the current control torque; and determining the current control variable of the target floating-based space robot based on the target vector and controlling the target floating-based space robot. By simultaneously estimating the interference terms, parameter perturbation terms, and uncertainty terms of the floating-based space robot, the present invention can adaptively generate a smooth control output and improve the robustness of the dynamic control of the floating-based space robot.

Description

Technical Field

[0001] The present invention relates to the technical field of space robots, and in particular to a method, system, equipment and medium for dynamic control of a floating-based space robot. Background Art

[0002] For floating space robots, dynamic control involves calculating the control forces and torques in real time based on state feedback, using the robot's velocity and acceleration as controlled variables. Determining the control inputs for the actuators also requires calculating the mapping between the control forces and torques and the controller. Existing technologies, such as proportional-integral-differential control, sliding mode control, robust control, and neural network control, address the motion control challenges of floating space robots. These technologies only address interference rejection, linearization of nonlinear systems, or vibration suppression, and thus are not well-suited for real-world environments, such as those required to ensure the environmental adaptability of floating control robots.

[0003] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a floating-based space robot dynamics control method, system, equipment and medium.

[0005] In a first aspect, the present invention provides a method for dynamic control of a floating-based space robot, the technical solution of which is as follows:

[0006] In the original dynamic model used to control the floating space robot, robot interference terms, parameter perturbation terms and uncertainty terms are introduced to generate the target dynamic model.

[0007] Based on the current state feedback value of the target floating-based space robot and in accordance with the target dynamics model and the corresponding target dynamics controller, a target vector of the target floating-based space robot is generated; wherein the target vector is a vector representing the current manipulation force and the current manipulation torque;

[0008] According to the target vector, a current control amount of the target floating-based space robot is determined, and according to the current control amount, the target floating-based space robot is controlled.

[0009] The beneficial effects of the dynamic control method of a floating-based space robot of the present invention are as follows:

[0010] The method of the present invention can adaptively generate smooth control output by simultaneously estimating the robot interference term, parameter perturbation term and uncertainty term of the floating-based space robot, and also improves the robustness of the dynamic control of the floating-based space robot.

[0011] On the basis of the above solution, the dynamic control method of a floating-based space robot of the present invention can be further improved as follows.

[0012] In an optional manner, the target dynamic model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ = [XY ZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0013] In an optional manner, the structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x, K m is the feedback gain.

[0014] In an optional manner, the target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

[0015] In a second aspect, the present invention provides a dynamic control system for a floating-based space robot, the technical solution of which is as follows:

[0016] Includes: building module, generating module and controlling module;

[0017] The construction module is used to: introduce robot interference terms, parameter perturbation terms and uncertainty terms into the original dynamic model for controlling the floating base space robot to generate a target dynamic model;

[0018] The generating module is used to generate a target vector of the target floating-based space robot based on a current state feedback value of the target floating-based space robot and in accordance with the target dynamics model and the corresponding target dynamics controller; wherein the target vector is a vector representing a current manipulation force and a current manipulation torque;

[0019] The control module is used to determine a current control amount of the target floating-based space robot according to the target vector, and control the target floating-based space robot according to the current control amount.

[0020] The beneficial effects of the floating-based space robot dynamics control system of the present invention are as follows:

[0021] The system of the present invention can adaptively generate smooth control output by simultaneously estimating the robot interference term, parameter perturbation term and uncertainty term of the floating-based space robot, and also improves the robustness of the dynamic control of the floating-based space robot.

[0022] On the basis of the above solution, the dynamic control system of a floating-based space robot of the present invention can be further improved as follows.

[0023] In an optional manner, the target dynamic model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ = [XY ZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0024] In an optional manner, the structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-Km x, K m is the feedback gain.

[0025] In an optional manner, the target dynamics controller includes: a state prediction equation, an adaptive law equation, and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term, and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity. In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0026] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the dynamic control method of the floating-based space robot of the present invention are realized.

[0027] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0028] The computer-readable storage medium stores instructions. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the floating-based space robot dynamics control method of the present invention.

[0029] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0031] Figure 1 1 is a flow chart of an embodiment of a method for dynamic control of a floating-based space robot according to the present invention;

[0032] Figure 2 is the structural diagram of the target dynamics controller;

[0033] Figure 3 Schematic diagram of the principle of Proj operator;

[0034] Figure 4 This is one of the simulation diagrams of the dynamic control of a floating space robot;

[0035] Figure 5 This is the second simulation diagram of the dynamic control of the floating space robot;

[0036] Figure 6 This is the third simulation diagram of the dynamic control of the floating space robot;

[0037] Figure 7 Schematic diagram of the structure of an embodiment of a floating-based space robot dynamics control system of the present invention;

[0038] Figure 8 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0039] The exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0040] Figure 1 A flow chart of an embodiment of a floating-based space robot dynamics control method provided by the present invention is shown. The floating-based space robot dynamics control method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the floating-based space robot dynamics control method by calling computer-readable instructions stored in a memory through a processor. Figure 1 As shown, the following steps are included:

[0041] S1. In the original dynamic model used to control the floating space robot, robot interference terms, parameter perturbation terms and uncertainty terms are introduced to generate the target dynamic model.

[0042] A floating space robot is a space robot whose base is in a floating state and is not constrained by external fixtures. The characteristics of a floating space robot give it greater flexibility and adaptability when performing tasks.

[0043] The original dynamic model is the general form of the dynamic equation of the floating space robot, which is expressed as follows: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, τ is the target vector, τ = [XYZKMN] T, X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment.

[0044] The general form of the dynamic equation is transformed into the standard state space equation, which is expressed as:

[0045]

[0046] Among them, f(x) represents the robot interference term and the parameter perturbation term, and f(x) is a unified description of the nonlinear part, environmental disturbance and parameter perturbation in the dynamic equation.

[0047] Taking into account the uncertainty of the propulsion system corresponding to the floating-based space robot, the efficiency parameter matrix W of the control input is introduced into the state space equation to describe the uncertainty term, and the target dynamic model is obtained: x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0048] S2. Based on the current state feedback value of the target floating base space robot and in accordance with the target dynamics model and the corresponding target dynamics controller, generate a target vector of the target floating base space robot.

[0049] Among them, such as Figure 2 As shown, the target dynamics controller includes but is not limited to: state prediction equation, adaptive law equation and control law equation. The state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value x The adaptive law equation is used to estimate the parameters corresponding to the robot interference term, parameter perturbation term and uncertainty term. ) is estimated, and the control law equation is used to calculate the adaptive control quantity. The target vector is a vector used to represent the current control force and the current control torque. The structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, which is used to ensure the stability of the inner loop system and make it have the desired closed-loop dynamic characteristics; τ adis the adaptive control quantity used to offset the uncertainty in the system; τ m =-K m x, K m is the feedback gain.

[0050] τ m =-K m Substituting x into the target dynamics model, we get: Among them, A m =A-BK m , g(x)=(1-w)K m x+f(x). Choose the appropriate K m , which can make A m Let be the Hurwitz matrix, a1 and a2 are designed to be adjustable control parameters, and both are positive real numbers, so we can get:

[0051] The floating space robot satisfies the following assumptions: ① The unknown control efficiency parameter is bounded; ② g(x) is bounded when x = 0; ③ The partial derivatives of g(x) are semi-globally uniformly bounded. There exist unknown piecewise continuous differentiable functions μ(t) and σ(t) such that: g(x) = μ(t)‖x‖ ∞ +σ(t); t is the system time. Set g(x)=μ(t)‖x‖ ∞ +σ(t) The linearization description of the robot's nonlinear dynamic equation is obtained as follows: Therefore, the state prediction equation can be designed as: in, is the current state feedback prediction value, for The derivative of is the predicted value corresponding to w, is the predicted value corresponding to μ(t), is the predicted value corresponding to σ(t).

[0052] make Then the error equation of the target dynamics controller can be written as: for To derive the adaptive rate, define the Lyapunov function in the following form: Γ>0 and P=P T >0, P is the weight matrix. To ensure The adaptive law equation can be designed as:

[0053]

[0054]

[0055] like Figure 3 As shown, Proj is a projection operator that can limit the parameters to be estimated to their upper and lower limits. Define a continuous smooth convex function f θ :

[0056]

[0057] Among them, θ max is the upper bound of the norm of vector θ, ∈ θ >0 is the projection tolerance range. Proj(θ,y) is defined as follows:

[0058]

[0059] The Proj operator makes the parameters to be estimated It can be updated quickly, but is limited to its upper and lower bounds to prevent the system from diverging.

[0060] Adaptive control quantity τ ad Laplace equation τ ad (s) is:

[0061]

[0062] Among them, x d is the desired input of the target dynamics controller, K g is the feedforward filter gain, which is used to eliminate the zero steady-state error of the output response. g is a constant value, and K f is the adaptive feedback gain; D(s) is the strictly regular transfer function, which can ensure that the closed-loop system filter C(s) = wK f D(s)(1+wK f D(s) -1 Strictly regular stable. Let D(s) = s -1 , we can get the adaptive control quantity u ad Incremental form (τ ad The derivative of is:

[0063]

[0064] The target dynamics controller designed according to the above derivation can handle the nonlinear part, unmodeled part and environmental disturbance of the target dynamics model, while ensuring the adaptability and robustness of the target dynamics model.

[0065] S3. Determine a current control amount of the target floating-based space robot according to the target vector, and control the target floating-based space robot according to the current control amount.

[0066] A mapping relationship exists between the vectors representing the maneuvering force and torque and the control variable. The current control variable can be determined directly based on this mapping relationship and the target vector. In this embodiment, a pseudo-inverse method can be used to determine the mapping relationship between the vector and the control variable. The target floating-based space robot is equipped with an actuator. By transmitting the current control variable to the actuator, the actuator controls the target floating-based space robot according to the current control variable. The specific control principle is based on existing technology and will not be elaborated on here.

[0067] It should be noted that if Figure 4 As shown, after the floating-based space robot grabs the bag, the overall mass and center of mass of the robot will change. In the simulation environment, simulation is performed through the parameters of the inertia matrix in the target dynamics model. After the mass and center of mass of the floating-based space robot change, that is, when there is parameter perturbation, the state of the floating-based space robot is still stabilized near the target value. Compared with the general method, it has higher accuracy. The floating-based space robot dynamics control method of this embodiment can reflect better parameter perturbation adaptability. Figure 5 As shown, the fan has multiple different gears, and when the fan is running, the nozzle output fluctuates. In the simulation environment, simulation is performed through the parameters of the control efficiency matrix in the target dynamics model. In the case of fluctuations in the nozzle output of the floating-based space robot, that is, there is uncertainty, the state of the floating-based space robot is still stabilized near the target value. Compared with the general method, it has higher accuracy. The floating-based space robot dynamics control method of this embodiment can reflect better uncertainty resistance. Figure 6 As shown, the robot is subject to disturbances caused by air flow, harmful nozzle forces, or human intervention. In a simulation environment, interference terms are introduced into the target dynamics model for simulation. This method stabilizes the floating-based space robot's state near the target value even when subjected to external disturbances, i.e., unknown interference. Compared to conventional methods, this method offers higher precision and exhibits superior anti-interference capabilities.

[0068] The technical solution of this embodiment can adaptively generate smooth control output by simultaneously estimating the robot interference term, parameter perturbation term and uncertainty term of the floating-based space robot, and also improves the robustness of the dynamic control of the floating-based space robot.

[0069] Figure 7FIG. 2 shows a schematic structural diagram of an embodiment of a floating-based space robot dynamics control system 200 provided by the present invention. Figure 7 As shown, the system 200 includes: a construction module 210, a generation module 220 and a control module 230;

[0070] The construction module 210 is used to introduce robot interference terms, parameter perturbation terms and uncertainty terms into the original dynamic model for controlling the floating space robot to generate a target dynamic model;

[0071] The generating module 220 is configured to generate a target vector of the target floating-based space robot based on the current state feedback value of the target floating-based space robot and in accordance with the target dynamics model and the corresponding target dynamics controller; wherein the target vector is a vector representing the current manipulation force and the current manipulation torque;

[0072] The control module 230 is configured to determine a current control amount of the target floating-based space robot according to the target vector, and control the target floating-based space robot according to the current control amount.

[0073] In an optional manner, the target dynamic model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ = [XY ZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

[0074] In an optional manner, the structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x, K m is the feedback gain.

[0075] In an optional manner, the target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

[0076] It should be noted that the beneficial effects of the floating-based space robot dynamics control system provided in the above embodiment are the same as the beneficial effects of the floating-based space robot dynamics control method described above, and will not be repeated here. In addition, when implementing its functions, the system provided in the above embodiment is only illustrated by the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the system can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the system and method embodiments provided in the above embodiment are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0077] Among them, the floating-based space robot dynamics control system of the present invention can be a computer program (including program code) running on a computer device. For example, the floating-based space robot dynamics control system of the present invention is an application software that can be used to execute the corresponding steps in the floating-based space robot dynamics control method of the present invention.

[0078] In some embodiments, the floating-based space robot dynamic control system of the present invention can be implemented by a combination of software and hardware. As an example, the floating-based space robot dynamic control system of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the floating-based space robot dynamic control method of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0079] The modules described in the embodiments of the present invention may be implemented in software or hardware, and the name of a module does not necessarily limit the module itself.

[0080] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned methods for dynamic control of a floating-based space robot is implemented. That is, an electronic device according to an embodiment of the present invention may include, but is not limited to, a processor and a memory; the memory is used to store the computer program; and the processor is used to execute the method for dynamic control of a floating-based space robot shown in any embodiment of the present invention by calling the computer program.

[0081] In an alternative embodiment, an electronic device is provided, such as Figure 8 As shown, Figure 8 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data exchange between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the number of transceivers 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0082] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0083] Bus 4002 may include a path for transmitting information between the above components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. Bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0084] The memory 4003 may be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to these.

[0085] The memory 4003 is used to store application code (computer program) for executing the solution of the present invention, and is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0086] Among them, the electronic device can also be a terminal device, and the terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of a smartphone, tablet computer, laptop computer, desktop computer, smart speaker, smart watch, smart TV, and smart car-mounted device.

[0087] It should be noted that Figure 8 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0088] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, which implements any of the above-mentioned floating-based space robot dynamics control methods when executed by a processor.

[0089] Alternatively, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, or the like.

[0090] In an exemplary embodiment, a computer program product or computer program is also provided. The computer program product or computer program includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the above-described method for controlling dynamics of a floating-based space robot.

[0091] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0092] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0093] The computer-readable storage medium provided in the embodiments of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or component.

[0094] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0095] The above description is merely a preferred embodiment of the present invention and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present invention is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, but also includes other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present invention.

[0096] It should be noted that the terms "first," "second," and the like in the specification and claims of this application are used to distinguish similar objects and to define a specific order or precedence. Where appropriate, the order used for similar objects may be interchanged, such that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0097] Those skilled in the art will appreciate that the present invention may be implemented as a system, method, or computer program product. Therefore, the present invention may be implemented in the following forms: entirely in hardware, entirely in software (including firmware, resident software, microcode, etc.), or in a combination of hardware and software, generally referred to herein as a "circuit," "module," or "system." Furthermore, in some embodiments, the present invention may be implemented in the form of a computer program product embodied in one or more computer-readable media containing computer-readable program code.

[0098] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A dynamic control method for a floating space robot, characterized in that: include: In the original dynamic model used to control the floating space robot, robot interference terms, parameter perturbation terms and uncertainty terms are introduced to generate the target dynamic model. Based on the current state feedback value of the target floating-based space robot and in accordance with the target dynamics model and the corresponding target dynamics controller, a target vector of the target floating-based space robot is generated; wherein the target vector is a vector representing the current manipulation force and the current manipulation torque; Determining a current control amount of the target floating-based space robot according to the target vector, and controlling the target floating-based space robot according to the current control amount; The target dynamics model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ = [XYZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

2. The method for dynamic control of a floating-based space robot according to claim 1, characterized in that: The structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x, K m is the feedback gain.

3. The method for dynamic control of a floating-based space robot according to claim 2, characterized in that: The target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

4. A dynamic control system for a floating space robot, characterized in that: include: Building modules, generating modules and controlling modules; The construction module is used to: introduce robot interference terms, parameter perturbation terms and uncertainty terms into the original dynamic model for controlling the floating base space robot to generate a target dynamic model; The generating module is used to generate a target vector of the target floating-based space robot based on a current state feedback value of the target floating-based space robot and in accordance with the target dynamics model and the corresponding target dynamics controller; wherein the target vector is a vector representing a current manipulation force and a current manipulation torque; The control module is used to: determine the current control amount of the target floating base space robot according to the target vector, and control the target floating base space robot according to the current control amount; The target dynamics model is: M is the inertia matrix, C(x) is the Coriolis force matrix, D(x) is the damping matrix, W is the uncertainty term, f(x) represents the robot interference term and the parameter perturbation term, τ is the target vector, τ = [XYZKMN] T , X is the longitudinal force, Y is the lateral force, Z is the vertical force, K is the rolling moment, M is the pitching moment, and N is the yaw moment; x is the current state feedback value, x = [uvwpqr] T , u is the current longitudinal velocity of the target floating base space robot, v is the current lateral velocity of the target floating base space robot, w is the current vertical velocity of the target floating base space robot, p is the current roll angular velocity of the target floating base space robot, q is the current pitch angular velocity of the target floating base space robot, r is the current yaw angular velocity of the target floating base space robot, is the derivative of x.

5. The floating-based space robot dynamics control system according to claim 4 is characterized in that: The structural expression of the target vector is: τ = τ m +τ ad ; τ m is the static feedback control quantity, τ ad is the adaptive control quantity, τ m =-K m x, K m is the feedback gain.

6. The floating-based space robot dynamics control system according to claim 5 is characterized in that: The target dynamics controller includes: a state prediction equation, an adaptive law equation and a control law equation; the state prediction equation is used to calculate the current state feedback prediction value corresponding to the current state feedback value, the adaptive law equation is used to estimate the robot interference term, the parameter perturbation term and the uncertainty term, and the control law equation is used to calculate the adaptive control quantity.

7. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, and the memory stores at least one computer program. The at least one computer program is loaded and executed by the processor so that the electronic device implements the floating-based space robot dynamic control method according to any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor so that the computer-readable storage medium implements the floating-based space robot dynamics control method according to any one of claims 1 to 3.

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