控制受限下双臂空间机器人的改进反馈控制方法

摘要

针对实际双臂空间机器人控制系统的驱动输入控制力矩受限的情况下，提出了一种改进位置输出反馈的轨迹跟踪控制算法。通过引入一阶线性滤波器，设计一种基于速度估计的位置输出的控制算法，该控制算法以伪速度信号来代替真实速度，避免测量速度带来的误差。在此基础上，引入饱和反正切函数设计一种新型的改进位置输出反馈的有界控制器，以实现系统控制输入力矩的受限。通过对基座姿态受控、位置不受控的漂浮基双臂空间机器人系统进行仿真，验证了所提出的改进反馈控制方法的有效性。%ln view of the bounded control torque of the actual free-floating dual-arm space robot control system, a new kind of trajec-tory tracking control algorithm used to improve position output feedback is put forward. A first-order linear velocity filter is adopted in the design of the output feedback control algorithm based on speed estimation. The pseudo velocity signal is used to replace the real speed in the algorithm, thus avoiding the error of measuring apeed. Then, the saturated arctangent function is adopted again in the design of a new kind of control algorithm. The new algorithm can be used to significantly reduce the driver input torque value of the base attitude and joint hinges. Numerical simulation results show the reliability and effectiveness of the control approach.