کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
765850 1462510 2014 9 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Fuzzy adaptive robust control for space robot considering the effect of the gravity
ترجمه فارسی عنوان
کنترل قوی انطباق فازی برای ربات فضایی با توجه به اثر گرانش
کلمات کلیدی
تطبیقی ​​فازی، میکروگرامیت، نیرومندی، ربات فضایی، کنترل ردیابی مسیر
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی هوافضا
چکیده انگلیسی

Space robot is assembled and tested in gravity environment, and completes on-orbit service (OOS) in microgravity environment. The kinematic and dynamic characteristic of the robot will change with the variations of gravity in different working condition. Fully considering the change of kinematic and dynamic models caused by the change of gravity environment, a fuzzy adaptive robust control (FARC) strategy which is adaptive to these model variations is put forward for trajectory tracking control of space robot. A fuzzy algorithm is employed to approximate the nonlinear uncertainties in the model, adaptive laws of the parameters are constructed, and the approximation error is compensated by using a robust control algorithm. The stability of the control system is guaranteed based on the Lyapunov theory and the trajectory tracking control simulation is performed. The simulation results are compared with the proportional plus derivative (PD) controller, and the effectiveness to achieve better trajectory tracking performance under different gravity environment without changing the control parameters and the advantage of the proposed controller are verified.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Chinese Journal of Aeronautics - Volume 27, Issue 6, December 2014, Pages 1562–1570
نویسندگان
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