Force/position fuzzy control of space robot capturing spacecraft by dual-arm clamping

被引：0
|
作者：
Ai H. [1 ,2 ]
Chen L. [2 ]
机构：
[1] School of Energy and Mechanical Engineering, Jiangxi University of Science and Technology, Nanchang
[2] School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou
来源：
Harbin Gongcheng Daxue Xuebao/Journal of Harbin Engineering University | 2020年 / 41卷 / 12期
关键词：
Capturing spacecraft by dual-arm clamping; Closed-chain composite system; Force/position fuzzy sliding mode control; Free-floating space robot; Impact effect; Passivity theory; Stabilization control; Velocity observer;
D O I：
10.11990/jheu.201905014
中图分类号：
学科分类号：
摘要：
A fuzzy control scheme based on the passivity theory is proposed to solve the impact effect of floating-based space robots in the process of capturing spacecraft by dual-arm clamping and the force/position control of its post-stabilization movement. Dynamic models of the double-arm space robot and the target spacecraft before capture are obtained based on the multi-rigid system dynamics theory. Afterward, based on the law of the conservation of momentum and the motion geometry relation and force transfer law of the closed-chain system after the capture, the impact effect of the capture contact and collision process on the closed-chain system after the collision is analyzed. Then, the dynamic equation of the closed-chain mixture system formed by them after the capture operation is established. Moreover, aiming at the system modeling errors and disturbances caused by non-cooperative spacecraft, based on passivity theory and speed observer, a stabilization force/position fuzzy sliding mode control scheme for the clamping operation of the closed-chain hybrid system after capture operation is designed. The proposed scheme based on the passivity theory does not need to actually measure relevant speed signals and has good dynamic characteristics and strong robustness. Moreover, it can effectively resist the interference of the strong impact effect caused by the capture operation on the control system and quickly realize motion stabilization of the closed-chain hybrid system. The system numerical simulation results verify the correctness of the proposed control scheme. Copyright ©2020 Journal of Harbin Engineering University.
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页码：1847 / 1853
页数：6
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