空间机器人捕获动力学特性未知的非合作目标后的稳定控制具有极大的挑战性. 利用自适应反作用零空间 (adaptive reaction null space, ARNS) 算法设计机械臂动态路径, 实现了目标捕获后对基座的扰动最小. 利用变数据窗递归最小二乘法 (variable data-window-size recursive least square, VDW-RLS), 实现了对末端连杆参数的在线估计. 提出了基于奇异摄动理论的高精度轨迹跟踪控制方案, 将系统按照时间尺度分解为快慢 2 个子系统: 为快变子系统设计了弹性振动补偿器, 用于抑制柔性机械臂的弹性振动; 为慢变子系统设计了自适应鲁棒控制项, 用于高精度轨迹跟踪. 通过仿真实验验证了基于 VDW-RLS 的自适应轨迹规划方案以及奇异摄动组合控制器的有效性.

The stable control of space robots after capturing noncooperative targets with unknown dynamic characteristics is challenging. Based on the adaptive reaction null space (ARNS) algorithm, the dynamic online planning path of a robotic arm was investigated to minimise the disturbance to the base. Using a variable data-window-size recursive least-square algorithm (VDW-RLS), the system could achieve an online estimation of the inertial parameters of the end link. In addition, a high-precision trajectory tracking control method was developed using the singular perturbation theory. According to the time scale, the system was decomposed into two subsystems. An elastic vibration compensator was designed for the rapid subsystem to suppress elastic vibration, and a robust adaptive controller was designed for the slow subsystem to track the adaptive reactionless trajectory. The validity of the adaptive reactionless path planning scheme via VDW-RLS and combined controller based on the singular perturbation technique were verified through simulation experiments.