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中文摘要：
针对空间绳系机器人（Tethered space robot,TSR）目标抓捕过程中的稳定控制问题,建立空间绳系机器人系统模型,根据阻抗控制原理,设计基于位置的阻抗控制方法;针对空间绳系机器人系统的模型不确定性问题,利用神经网络对不确定性进行估计补偿,设计鲁棒项对空间系绳干扰和神经网络估计误差的影响进行抑制,在此基础上设计空间绳系机器人目标抓捕鲁棒自适应稳定控制器,并进行稳定性证明.最后对设计的控制器进行仿真验证.作为对比,对无鲁棒项自适应的稳定控制器进行仿真.仿真结果表明,设计的基于阻抗控制的鲁棒自适应控制可以实现对空间绳系机器人目标抓捕过程中的稳定控制,与无鲁棒项自适应的稳定控制器仿真结果相比,本文采用的鲁棒自适应控制方法可以有效地对不确定性进行补偿,控制过程中超调量更小,收敛时间更短,并且控制精度更高.
英文摘要：
Aimed at the problem of stabilization for a tethered space robot（TSR） capturing a target, a position-based impedance control is presented based on the model of a tethered space robot system. For the problem of model uncertainty of the tethered space robot system, an artificial neutral network（ANN） is used to estimate and compensate for the uncertainty, and a robust term is designed to repress the interference of tether and the effect of the estimation deviation by the ANN. Then a robust and adaptive controller for the TSR capturing a target is designed, and the stabilization of the controller is demonstrated. For the purpose of comparison, a simulation for an adaptive controller without the robust term is made, and the result shows that the controller designed in this paper can guarantee the stabilization during the TSR capturing a target. Compared to the adaptive controller without the robust term, the robust adaptive controller can compensate for the uncertainty effectively, with smaller overshoot, less convergence time, and higher control accuracy during the control process.
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