Speed Trajectory Tracking Control for Free-Floating Space Robot with Uncertain Inertial Parameters

2019 2nd International Conference on Advanced Materials, Intelligent Manufacturing and Automation

Qi, Tian^1 ; Yanfei, Liu^1 ; Zhong, Wang^1 ; Pengtao, Zhao^1

Rocket Force University of Engineering, Shanxi Xi'an

710025, China^1

关键词: End-effector trajectory;    Free-floating space robot;    Inertial parameters;    Optimization controller;    Speed trajectories;    State-dependent Riccati equation;    Tracking controls;    Uncertain parameters;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/569/3/032028/pdf
DOI  :  10.1088/1757-899X/569/3/032028

来源: IOP

【 摘 要 】

A speed trajectory tracking control (STTC) approach is proposed to optimize the end-effector trajectory tracking control for free-floating space robot (FFSR) with uncertain inertial parameters, where two stages controller are designed by the state dependent Riccati equation (SDRE). Firstly, the first-stage SDRE nominal optimization controller is designed by using the nominal system model. Next, by analyzing the error transfer process resulting from uncertain parameters under the nominal control law, the second-stage SDRE compensated controller is designed by the state dependent matrix (SDM) of the system state errors. Then, the optimization tracking control for the FFSR with uncertain inertial parameters is achieved by combining the first-stage SDRE nominal optimization controller and the second-stage SDRE compensated controller. Finally, numerical simulations are given to demonstrate the proposed approach which satisfies the precision of the tracking error and the optimization requirement of the input torque.