|
|
论文:2017,Vol:35,Issue(1):59-65 |
|
|
引用本文： |
|
|
朱战霞, 张红文, 罗秋月. 自由漂浮空间机器人神经网络自适应控制律设计[J]. 西北工业大学学报 |
|
|
Zhu Zhanxia, Zhang Hongwen, Luo Qiuyue. Adaptive Neural Network Control for Free-Floating Space Robot[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 自由漂浮空间机器人神经网络自适应控制律设计 |
|
| 朱战霞1,2, 张红文1,2, 罗秋月1,2 |
|
1. 西北工业大学 航天学院, 陕西 西安 710072;
2. 航天飞行动力学技术国家级重点实验室, 陕西 西安 710072 |
| 摘要: |
| 自由飘浮空间机器人是一种复杂的非线性系统，当考虑各种因素引起的模型不确定性和外部干扰时，传统控制已不能满足要求。为此，文章考虑不确定性干扰对系统的影响，基于神经网络在线建模技术，将系统误差和误差变化率作为状态量，利用李雅普诺夫方程设计网络权值变化率，通过训练权值对不确定部分进行逼近，在此基础上设计神经网络自适应控制项，用于修正基于名义模型的控制律，补偿不确定项造成的控制误差，并证明了控制系统的稳定性。7关节空间机器人的数值仿真结果表明，文中所设计的自适应神经网络控制器，在机械臂末端有干扰和负载的情况下，也能向期望轨迹靠拢，并在一定误差范围内保持收敛，相比于传统PID控制器，性能更优。 |
| 关键词:
控制器
李雅普诺夫函数
非线性分析
|
|
| Adaptive Neural Network Control for Free-Floating Space Robot |
|
| Zhu Zhanxia1,2, Zhang Hongwen1,2, Luo Qiuyue1,2 |
|
1. School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China;
2. National Key Laboratory of Aerospace Flight Dynamics, Xi'an 710072, China |
| Abstract: |
| Free-floating space robot system is a very complicated nonlinear analysis. Traditional control strategy cannot meet the technical requirements when considering uncertain terms and external disturbances. For this reason, the influence of the uncertainty to the system is considered in this article. This article regard the control error and the error rate as system state. Basing on neural network on-line modeling technique, design the change rate of network weights and approach the uncertain parts by weight of training. Then design adaptive neural network control item, which can be used to amend nominal-model-based control and compensate the control error caused by uncertain terms. Meanwhile, The stability of control system is proved. The numerical simulation of 7 DOF(degree of freedom)space robot show that with the adaptive neural network controller proposed in this article, the end-effector with disturbances and load can also close to the desired trajectory and converge when the error within a finite range. The controller performs better than traditional PID controller. |
| Key words:
controllers
Lyapunov functions
nonlinear analysis
|
|
| 收稿日期: 2016-09-10
修回日期:
|
| DOI: |
| 基金项目: 国家自然科学基金（11472213）资助 |
| 通讯作者:
Email： |
| 作者简介: 朱战霞(1973-),女,西北工业大学教授、博士生导师,主要从事飞行动力学与控制、空间操作地面实验方法研究。
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] Yoshida K, Nenchev D, Ishigami G, et al. Space Robotics[M]. The International Handbook of Space Technology, Springer Berlin Heidelberg, 2014:541-573
[2] Flores-Abad A, Ma O, Pham K, et al. A Review of Space Robotics Technologies for On-Orbit Servicing[J]. Progress in Aerospace Sciences, 2014, 68(8):1-26
[3] Newton R Todd, Xu Yangsheng. Neural Network Control of a Space Manipulator[J]. IEEE Control Systems, 1993, 13(6):14-22
[4] Feng B, Ma G, Xie W, et al. Robust Tracking Control of Space Robot via Neural Network[C]//20061st International Symposium on Systems and Control in Aerospace and Astronautics, 2006:902-906
[5] Sanner R M, Slotine J J E. Stable Adaptive Control of Robot Manipulators Using "Neural" Networks[J]. Neural Computation, 1995, 7(4):753-790
[6] 郭益深, 陈力. 漂浮基姿态受控空间机械臂关节运动的自适应神经网络控制[J]. 空间科学学报, 2008, 28(2):173-179 Guo Yishen, Chen Li. Adaptive Neural Network Control of Free-Floating Space Manipulator with an Attitude Control Base[J]. Chinese Journal of Space Science, 2008, 28(2):173-179(in Chinese)
[7] 陈力. 参数不确定空间机械臂系统的鲁棒自适应混合控制[J]. 控制理论与应用, 2004, 21(4):512-516 Chen Li. Robust and Adaptive Composite Control of Space Manipulator System with Uncertain Parameters[J]. Control Theory & Applications, 2004, 21(4):512-516(in Chinese)
[8] 丰保民. 自由漂浮空间机器人轨迹规划与轨迹跟踪问题研究[D]. 哈尔滨:哈尔滨工业大学, 2007 Feng Baomin. Study on Path Planning and Trajectory Tracking Control of Free-Floating Space Robot[D]. Harbin, Harbin Institute of Technology,2007(in Chinese) |
|
|
|
|
|
|
|
