Robust Control of One Arm Space Manipulator with Parameters Uncertainties Compensated

摘要

According to trajectory tracking control of space robot with parameters uncertainties, the influence of uncertain items on space robot trajectory tracking is taken into consideration. Robust controller based on robust control theory of uncertain systems is designed for the space robot and uncertain items are compensated. Firstly, robust controller is applied to compensate the coriolis force, centrifugal force and other disturbance. Robust control law with items uncertainties compensated is improved and it can meet the demand for control law non-singular. The desired time-varying trajectory can be real-time tracked by manipulators while the attitude of space robot can be controlled. The compensation matrix is proposed. The uncertainty item range can be solved based on PSO and it can be applied to control manipulators. Stability of the improved robust controller is analyzed by Lyapunov function. Finally, the simulation results show that the robust controller has a good performance.