Adaptive fuzzy PID control of free-floating space robot

摘要

This paper considers a free-floating space robot system as the control object and proposes the kinematic model through analyzing the kinematic characteristics based on complete constraints of linear momentum and nonholonomic constraints of angular momentum. By combining the relationship of the linear and angular momentum conversation and the Lagrangian approach, the dynamic equation of the free-floating space robot system is established. For trajectory tracking control in task space, the paper designed an adaptive fuzzy PID controller. As for trajectory tracking control of a two DOF free-floating space robot, this paper introduces PD control and adaptive fuzzy PID control to simulate. The simulation results show the real-time regulation of adaptive fuzzy PID control can improve the dynamic process and tracking accuracy for the trajectory tracking of the space manipulator.