基于时延估计的漂浮基空间机器人鲁棒H∞关节跟踪控制

摘要

The control of free floating space robot system with uncontrol ed base is discussed. According to the case of the under-driven forms of the space robot system with uncertain parameters and the advantages of the time delay estimation and robust H∞control, the tracking control scheme based on the time delay estimation robust H∞ is proposed. This paper achieves the unknown dy-namics of its online and compensates the control process by using the time delay estimation. L2 gain control is introduced, the control scheme can be used to achieve L2 interference suppression of the time-delay estimation error, thus further improving the robustness of the system. At the same time, the Lyapunov function and Riccati equation are used to ensure the asymptotic stability and H∞ ro-bust performance of the closed loop system. The simulation results demonstrate the effectiveness of the proposed control er.%讨论了载体姿态和位置均不受控的漂浮基空间机器人的控制问题。针对欠驱动形式的空间机器人系统参数不确定的情况，结合时延估计控制和鲁棒H∞控制的优点，设计了一种基于时延估计的鲁棒H∞控制器来跟踪关节期望轨迹，采用时延估计在线获得系统的未知动力学，并对控制过程加以补偿；通过引入L2增益，控制对时延估计误差的L2干扰抑制，进一步提高系统的鲁棒性；利用Lyapunov 函数和Riccati方程保证了闭环系统的渐进稳定性和H∞鲁棒性能。仿真结果验证了该控制方案的有效性。