漂浮基空间机械臂姿态、关节协调运动的模糊小波神经网
络控制
黄登峰;陈力
【期刊名称】《空间科学学报》 【年(卷),期】2011(031)006
【摘要】The trajectory tracking control for coordinated motion of free-floating space manipulator system with an attitude controlled base is discussed. According to the geometrical relationship and law of conservation of momentum, the dynamic equations of space manipulator system are constituted through Lagrange equation of the second kind. Based on the above, a fuzzy wavelet neural network scheme is designed to control the base attitude and the joint angle of manipulator to track desired trajectories synchronously in joint space on condition that system parameters are unknown. The control scheme needs neither linearly parameterize the dynamic equations of the system, nor know any system parameters. Further more, its network weights are learning online based on errors by back propagation algorithm so the self-learning and self-adapting ability of fuzzy neural network is enhanced and meantime the offiine training time is saved. Numerical simulations are presented to verify the feasibility and effectiveness of the proposed control scheme.%讨论了本体姿态受控、位置不受控制的漂浮基空间机械臂系统协调运动的动力学控制问题．根据系统位
漂浮基空间机械臂姿态、关节协调运动的模糊小波神经网络控制
