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对于本体姿态受控而位置不受控的空间机械臂系统 ,其自适应控制通常是从跟踪误差中获取有关参数信息。但除了跟踪误差外 ,估计误差中也含有参数信息。该文首先分析了一类空间机械臂系统的动力学特性 ,建立了系统的估计模型 ;提出了一种复合自适应控制方法 ,其参数适应律由估计误差和跟踪误差共同决定 ;证明了这种自适应方法不仅可维持自适应控制系统的全局稳定 ,而且还可快速收敛和减小跟踪误差。仿真结果也验证了这一特点
For space manipulator systems with controlled body position and uncontrolled position, adaptive control usually obtains relevant parameter information from tracking error. However, in addition to the tracking error, the estimation error also contains the parameter information. In this paper, the dynamic characteristics of a type of space manipulator system are firstly analyzed and the system estimation model is established. A hybrid adaptive control method is proposed, whose parameter adaptation is determined by both estimation error and tracking error. The adaptive method can not only maintain the global stability of the adaptive control system, but also can quickly converge and reduce the tracking error. Simulation results also verify this feature