| Wen Yintang (温银堂),Gao Linqi,Liu Fucai,Qin Li.[J].高技术通讯(英文),2020,26(1):53~60 |
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| Model-free adaptive control of space manipulator under different gravity environment |
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| DOI：doi：10.3772/j.issn.1006-6748.2020.01.007 |
| 中文关键词: |
| 英文关键词: space manipulator, microgravity, model-free adaptive, trajectory tracking control |
| 基金项目: |
| Author Name | Affiliation | | Wen Yintang (温银堂) | (School of Electrical Engineering, Yanshan University, Qin Huangdao 066004, P.R.China) | | Gao Linqi | (School of Electrical Engineering, Yanshan University, Qin Huangdao 066004, P.R.China) | | Liu Fucai | (School of Electrical Engineering, Yanshan University, Qin Huangdao 066004, P.R.China) | | Qin Li | (School of Electrical Engineering, Yanshan University, Qin Huangdao 066004, P.R.China) |
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| 中文摘要: |
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| 英文摘要: |
| Due to the release of gravity in the space environment, the dynamic characteristics of the space manipulator have changed compared with that of the ground, which results in the change of its tracking precision. This paper presents a model-free adaptive control (MFAC) strategy to track the desired trajectory under different gravity environment. A dynamic transformation method and full form dynamic linearization (FFDL) approach are selected to dynamicly linearize the system, which can better eliminate the complex dynamics that may exist in the original system. The controlled object uses the two degrees of freedom of space manipulator and the controller only depends on the desired angle and torque of each joint of the space manipulator. Moreover, the proof of stability is also provided. Finally, simulation results are presented to demonstrate the effectiveness of the proposed strategy. It is shown that the proposed approach can achieve better trajectory tracking performance under different gravity environment without changing the control parameters, and the tracking precision can be significantly improved as compared with the proportional differential (PD) control results. |
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