文档介绍：第 26 卷第 10 期工程力学
2009 年 10 月 Oct. 2009 ENGINEERING MECHANICS 165
文章编号:1000-4750(2009)10-0165-06
漂浮基柔性空间机械臂基于 Backstepping
控制策略设计的姿态、关节运动控制
郭益深,*陈力
(福州大学机械工程学院,福州 350002)
摘要:讨论了载体位置无控、姿态受控情况下,漂浮基柔性空间机械臂姿态、关节协调运动的控制问题。基于假想
模态法、系统动量守恒关系及拉格朗日第二类方程,建立了漂浮基柔性空间机械臂的二阶非线性系统动力学方程。以
此为基础,采用 Backstepping 控制策略,设计了漂浮基柔性空间机械臂载体姿态与机械臂各关节协调运动的
Backstepping 控制方案。提出的控制方案使系统满足了李雅普诺夫稳定性理论条件,并保证了系统具有全局意义下的渐
进稳定性。一个平面漂浮基柔性空间机械臂的系统数值仿真,证实了此控制方案的有效性。
关键词:漂浮基;柔性空间机械臂;假想模态法;Backstepping 控制;渐进稳定
中图分类号:TP241 文献标识码:A
BACKSTEPPING CONTROL OF COORDINATED MOTION OF FREE-FLOATING
FLEXIBLE SPACE MANIPULATOR SYSTEM
GUO Yi-shen , *CHEN Li
(College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, China)
Abstract: The control problem of coordinated motion of a free-floating flexible space manipulator system is
discussed. Based on the assumed mode method, the system linear momentum conversation and the Lagrange
equation of second kind, the second-order nonlinear dynamic equation of the flexible space manipulator system is
established. Accordingly, using the Backstepping control approach, the Backstepping control scheme is designed
for coordinated motion between the base’s attitude and the joints of the free-floating flexible space manipulator
system. With the proposed control scheme, the system satisfies the condition of Lyapunov stability t