Translated Title

Variable Structure Force/Pose Control for In-orbit Auxiliary Docking Operation of Dual-arm Space Robot Based on Fuzzy Logic

Translated Abstract

The　force/pose　control　problem　of　a　dual-arm　space　robot　in　orbit　assisted　docking　mission　is　studied.Firstly,the　Lagrange　method　is　used　to　establish　the　dynamics　equation　of　the　closed　chain　hybrid　system　after　the　capture　of　the　target　of　the　dual-arm　space　robot　by　combining　the　momentum　conservation　theorem,the　motion　of　the　closed　chain　system　and　the　geometric　constraints.Based　on　impedance　control　theory,the　second　order　linear　impedance　model　and　the　second　order　approximate　environment　model　are　established.Then,considering　the　control　requirements　of　fast　response　for　on-orbit　missions　and　high-precision　force/pose　control　for　docking　operations,a　nominal　PD　controller　is　designed　for　the　deterministic　part　of　the　dual-arm　closed-chain　system,and　a　sliding　mode　variable　structure　controller　is　introduced　to　accurately　compensate　the　uncertain　part　of　the　modeling,so　as　to　improve　the　force/pose　control　accuracy.Based　on　the　fuzzy　control　principle,a　control　scheme　with　sliding　mode　surface　as　fuzzy　input　and　compensation　control　gain　as　fuzzy　output　is　adopted　to　realize　the　suppression　of　the　inherent　buffeting.The　control　strategy　does　not　depend　on　the　sliding　mode　surface　differential　signal,and　has　reliable　structure,high　computational　efficiency　and　strong　robustness.Finally,the　stability　of　the　system　is　verified　by　Lyapunov　stability　determination.Based　on　Matlab　simulation　results,it　is　verified　that　the　control　accuracy　of　the　proposed　control　strategy　meet　the　requirements　of　on-orbit　docking　tasks.

Translated Keyword

auxiliary docking in orbit
dual-arm space robot
fuzzy variable structure
impedance control

Classification

Type

Project Name

Project No.

Access Number

WF:perioarticaljxgcxb202501005

Language

Chinese

Corresponding s email

Author Info