|
| Robust calm control of space robot after captures target spacecraft based on passivity theory |
| Received:October 28, 2018 Revised:February 27, 2019 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx20181028001 |
| KeyWord:Free-Floating space robot capture spacecraft passivity theory calm motion radial basis neural network H-infinity robust control |
| Author | Institution |
| 艾海平 |
福州大学 机械工程及自动化学院, 福州 |
| 陈力 |
福州大学 机械工程及自动化学院, 福州 |
|
| Hits: 975 |
| Download times: 700 |
| Abstract: |
| The impact effects of free-floating space robot in capturing non-cooperative spacecraft and post-capture coordination control are studied.The dynamic models of a free-floating space robot and a target spacecraft before capture are obtained by Lagrange method and Newton-Euler method respectively.After this,based on the principle of conservation of momentum,the constraints of kinematics and the law of force transfer,the impact effects caused by collision of the capture process is analyzed.Finally,the dynamic model of the composite system is derived.On the basis,neural network H-infinity robust control for calm motion based on passivity theory is designed for the composite system with uncertain parameters and external disturbances.The robust control algorithm based on passivity theory in this paper has good dynamic characteristics and strong robustness.Stabilization control of composite system and accurate tracking of trajectory can be achieved.Numerical simulation verifies the effectiveness of the proposed control scheme. |