星载机械臂的自然间接自适应控制器

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-05-16 DOI:10.1016/j.conengprac.2025.106395

Jacopo Giordano , Angelo Cenedese , Andrea Serrani

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引用次数: 0

摘要

研究了卫星机械臂操纵物体的间接自适应控制器的设计。被操纵对象的模型不确定性会对系统的整体行为产生相当大的影响。此外，基地卫星作动器的动力学是非线性的，可能受到故障的影响。忽略这两个现象可能会导致过度的控制努力或性能下降。为了解决这些问题，本文研究了一种间接自适应控制方法，该方法考虑了执行器动力学的相关特征，如有效性损失。此外，还采用了一种自适应律来保持组成系统的各种刚体的惯性参数的物理一致性。首先对控制器的性能和鲁棒性进行了分析，然后通过仿真研究对其进行了验证。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A natural indirect adaptive controller for a satellite-mounted manipulator

The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Model uncertainty on the manipulated object can considerably impact the overall behavior of the system. In addition, the dynamics of the actuators of the base satellite are non-linear and can be affected by malfunctioning. Neglecting these two phenomena may lead to excessive control effort or to performance degradation. To deal with these issues, an indirect adaptive control approach is pursued in this paper, which allows consideration of relevant features of the actuators’ dynamics, such as loss of effectiveness. Furthermore, an adaptive law that preserves the physical consistency of the inertial parameters of the various rigid bodies comprising the system is employed. The performance and robustness of the controller are first analyzed and then validated in a realistic simulation study.

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.