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基于李亚普诺夫稳定性直接方法, 针对具有参数及模型不确定性的空间机器人地面实验系统, 提出了一种新的鲁棒自适应控制器。该控制器由三部分组成: 线性PD反馈项, 补偿动力学的自适应控制项, 补偿建模不确定性的鲁棒控制项。控制策略能有效地克服未建模的摩擦力和外部扰动以及吊丝配重系统未补偿掉的重力影响, 并且能保证全局最终一致有界。仿真表明了算法的可行性和有效性
Based on the Lyapunov stability direct method, a new robust adaptive controller is proposed for the space robot ground experimental system with parameters and model uncertainties. The controller consists of three parts: linear PD feedback term, adaptive control term of compensation dynamics and robust control term of modeling uncertainty. The control strategy can effectively overcome the unmodeled friction and external disturbances as well as the uncompensated gravity effects of the suspension wire weighting system, and can ensure that the global final uniform boundedness. Simulation shows that the algorithm is feasible and effective