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arXiv 1402.5586eess.SYcs.SY
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自适应零反力运动控制用于自由浮动空间机械臂

Adaptive Zero Reaction Motion Control for Free-Floating Space Manipulators

Beijing Institute of Control Engineering（北京控制工程研究所）；China Aerospace Science and Technology Corporation（中国航天科技集团有限公司）

Shuanfeng Xu, Hanlei Wang, Duzhou Zhang, Baohua Yang

备注：
17 pages, 9 figures, revised for more rigorously presenting the proof and for improving the presentation, highlighting the contribution, and correcting some typos based on the reviewers' and AE's comments from IEEE Transactions on Aerospace and Electronic Systems
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AI总结：

本文提出了一种自适应零反力运动控制器，用于具有不确定动力学和运动学的自由浮动空间机械臂，解决了自适应反力空问（RNS）控制方案中线性表达难以获得的问题，实现了航天器姿态调节和末端执行器轨迹跟踪。

摘要：

本文研究了具有不确定运动学和动力学的自由浮动空间机械臂的自适应零反力运动控制。挑战在于推导基于自适应反力空问（RNS）的控制方案时，难以获得线性表达，这是自适应控制的基础。本文的主要贡献是巧妙地获得了这种线性表达，基于此，开发了一种自适应的RNS基于控制器（后续称为自适应零反力运动控制器），在速度层面考虑了运动学和动力学的不确定性。证明所提出的控制器实现了航天器姿态调节和末端执行器轨迹跟踪。通过数值模拟一个平面3自由度（自由度）空间机械臂，展示了所提自适应控制器的性能。

英文摘要：

This paper investigates adaptive zero reaction motion control for free-floating space manipulators with uncertain kinematics and dynamics. The challenge in deriving the adaptive reaction null-space (RNS) based control scheme is that it is difficult to obtain a linear expression, which is the basis of the adaptive control. The main contribution of this paper is that we skillfully obtain such a linear expression, based on which, an adaptive version of the RNS-based controller (referred to as the adaptive zero reaction motion controller in the sequel) is developed at the velocity level, taking into account both the kinematic and dynamic uncertainties. It is shown that the proposed controller achieves both the spacecraft attitude regulation and end-effector trajectory tracking. The performance of the proposed adaptive controller is shown by numerical simulations with a planar 3-DOF (degree-of-freedom) space manipulator.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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