基于能量法的空间机械臂的姿态控制稳定性
Based on Energy Method of the Space Manipulator in Attitude Control Stability
DOI: 10.12677/JAST.2017.51006, PDF, HTML, XML, 下载: 1,846  浏览: 4,421  国家自然科学基金支持
作者: 黄 平：北京信息科技大学机电工程学院，北京；戈新生：北京信息科技大学理学院，北京
关键词: 空间机械臂；无源性；能量法；姿态控制；稳定性；Space Manipulator； Passive； Energy Method； Attitude Control； Stability
摘要: 通过研究空间机械臂的动力学特征，先用无源性理论证明其符合无源性条件。然后从能量的角度出发用Lyapunov方法导出系统的控制律。分析空间机械臂的稳定性，用拉萨尔原理证明系统在目标位置处达到渐近稳定。最后，在Matlab中进行仿真实验，验证基于能量法姿态控制的有效性。
Abstract: Firstly, the theory of passive space is used to prove that the space manipulator meets the passive conditions, by studying the dynamic characteristics of space manipulator. Then from the perspective of energy, Lyapunov method is used to derive the control law of the system. The Lazar principle is used to demonstrate that the system is asymptotically stable at the target position and that the stability of the space manipulator is analyzed. Finally, the simulation experiment is carried out in Matlab to verify the effectiveness of attitude control based on energy method.
文章引用：黄平, 戈新生. 基于能量法的空间机械臂的姿态控制稳定性[J]. 国际航空航天科学, 2017, 5(1): 45-53. https://doi.org/10.12677/JAST.2017.51006

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