基于Legendre伪谱法的空间机器人姿态运动的最优控制Attitude Optimal Control of Space Robot Based on the Legendre Pseudospectral Method

DOI: 10.12677/JAST.2015.34010, PDF, HTML, XML, 下载: 1,580  浏览: 4,409  国家自然科学基金支持

Abstract: The optimal attitude control of free-floating space robot system with dual-arm is discussed in this paper by using Legendre pseudospectral method. The simplified robot system dynamics model is established based on the linear and angular momentum conservation of the system. And the system constraints and performance index function based on system joints dissipation energy are determined to describe the optimal control problem. Then the continuous trajectory optimization is transformed into a discrete nonlinear programming problem (NLP) by using Legendre pseudospectral method. And the energy-optimal solutions are obtained with a NLP solver. An optimal attitude control method for the space robot is obtained. At the end of this paper, numerical simulations on the free-floating space robot attitude control problems are given. And the results verify the effectiveness of Legendre pseudospectral method on solving the optimal attitude control problem.

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