自由漂浮空间机器人神经网络自适应补偿控制
张文辉;齐乃明;尹洪亮
【期刊名称】《宇航学报》 【年(卷),期】2011(032)006
【摘要】Considering free-floating space robot in task space is a neural network adaptive control algorithm ia proposed for trajectory tracking in this paper. The control acheme uses neural networks to approach the non-linearity model by eatablishing online model. and neural network approach errors and outside bounded disturbance can be eliminated by a robust controller. Parameters of system are distinguished by import GL matrix and multiplication Operator \· \into neural networks. The controller has no need of estimate value of inverse dynamie model and avoida the Jacobian matrix inverse operation. The control scheme can guarantee the stability of closed loop system and the asymptotic convergence of tracking errors based on the lyapunov theory. The simulation resulta show that the presented controller is effective in control accuracy and can satisfy request for real time, and has important value for engineering application.%针对更具工程价值的任务空间内的自由漂浮状态空间机器人模型不确定性末端控制问题,提出了一种自适应神经网络控制策略用于机器人末端控制.通过神经网络在线建模来逼近系统中的非线性模型,神经网络的逼近误差及外界有界扰动通过鲁棒控制器来消除,采用引入GL矩阵及其乘法算子\.该控制策略既不需要
自由漂浮空间机器人神经网络自适应补偿控制
