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Robust control of a space robot based on an optimized adaptive variable structure control method
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DOI：10.1016/j.ast.2021.107267.png)
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Abstract
En 中文
Spacerobothasbeenplayinganincreasinglyimportantroleinon-orbitservicemissions.Dynamiccouplingexistsbetweenthespacerobotarmandthefloatingbase,andaninaccuratedynamicmodelwilldeterioratethecontrolaccuracyofspacerobotmotion.Thispaperproposedanoptimizedadaptivevariablestructurecontrolmethodtorealizecoordinatemotioncontrolofspacerobotbaseanditsarm.Thecontrollercanadaptitsgaintomatchsystemuncertaintiesandexternaldisturbancessothattheerrordynamicsconvergetotheoriginfollowingaparabola-likepathwhichisclosetothenaturalbehavior ofasecond-ordersystem.Therefore,thecontrollerwilleliminatethechatteringphenomenonandreducethesettlingtime.Further,takingthemotionerrorastheobjectivefunction,thegainparameterisoptimizedbyadoptingthemodifiedGaussianbarebonesdifferentialevolutionmethod.NumericalsimulationsaimedatverifyingthespacerobotdynamicmodelandtheeffectivenessofthecontrollerarecarriedoutbasedonSimscapeMultibody.Theresultsprovethatthetheoreticaldynamicmodelofthespacerobotisaccurate.Inaddition,thecontrollerisdemonstratedtopresentreducedsettlingtimeandhighercontrolaccuracyincomparisonwiththeboundarylayerslidingmodecontrolmethod. (c) 2021ElsevierMassonSAS.Allrightsreserved
Keywords:
Space robot
Coordinate motion control
Adaptive variable structure control
Optimization
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