Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm
文献类型：期刊论文
| 作者 | Gao Q(高庆) ; Li YM(李杨民); Tian TT(田同同); Liu JG(刘金国)
|
| 刊名 | Acta Astronautica
 |
| 出版日期 | 2017 |
| 卷号 | 138页码:462-474 |
| 关键词 | AAR-2 6-DOF Fuzzy sliding mode control Simulation |
| ISSN号 | 0094-5765 |
| 产权排序 | 1 |
| 通讯作者 | Li YM(李杨民) |
| 中文摘要 | Space robots can perform some tasks in harsh environment as assistants of astronauts or substitutions of astronauts. Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Engineering, Aerospace |
| 研究领域[WOS] | Engineering |
| 关键词[WOS] | SPACE MANIPULATOR ; HARMONIC DRIVE ; ATTITUDE ; STATION |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000408290900043 |
| 源URL | [http://ir.sia.cn/handle/173321/20753]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 作者单位 | 1.Northeastern University, Shenyang, 110819, China 2.Department of Industrial and Systems Engineering, The Hong Kong Polytechnic University, Hung Hom, Kowloon, Hong Kong 3.University of the Chinese Academy of Sciences, Beijing 100049, China 4.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Gao Q,Li YM,Tian TT,et al. Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm[J]. Acta Astronautica,2017,138:462-474. |
| APA | Gao Q,Li YM,Tian TT,&Liu JG.(2017).Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm.Acta Astronautica,138,462-474. |
| MLA | Gao Q,et al."Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm".Acta Astronautica 138(2017):462-474. |
入库方式： OAI收割
来源：沈阳自动化研究所
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