Differential geometry nonlinear control method of spatial mechanical arm anti-interference attitude stabilization

Abstract

The invention discloses a differential geometry nonlinear control method of spatial mechanical arm anti-interference attitude stabilization. A differential geometry theory is used to carry out linearization conversion on a nonlinear attitude dynamics model so as to acquire a kind of linear space form. And then LQR is used to carry out controller design on a linearized attitude stabilization system so as to acquire a non-linear control law. A spatial mechanical arm attitude stabilization controller based on a differential geometry theory and an LQR control method can guarantee robustness stability of a system to various kinds of uncertainties and a non-cooperative interference, a simple linearity control theory is adopted, a control structure is simple, a calculated amount is reduced and resources on a satellite is saved so that the method is especially suitable for a spatial mechanical arm attitude stabilization task which needs real-time calculation and has a limited calculating capability.

Description

【Technical Field】 [0001] The invention relates to a differential geometric nonlinear control method with stable anti-interference attitude of a space manipulator, belonging to the field of spacecraft control. 【Background technique】 [0002] The structure and functions of spacecraft are becoming more and more complex. The development of aerospace technology has made possible new space missions such as on-orbit operations. On-orbit capture, repair, assembly, module replacement, and fuel refueling are new developments in space technology. Hot spot. However, due to the extreme temperature, vacuum, radiation, weightlessness and other harsh factors in the space environment, the risk of human exiting the cabin is high. Therefore, the space platform with robotic arms plays an increasingly significant role in the implementation of space operations. At present, from the development trend of space platforms with robotic arms, it can be seen that the operation target is developing from coop...

AI Technical Summary

Problems solved by technology

[0005] When the space manipulator captures non-cooperative targets to form a combined system, in order to overcome the shortcomings of the existing technology and avoid the problems of the traditional nonlinear control method structure being too complex, difficult to implement and the amount of calculation is large, it is considered that there are uncertain factors In the case of the presence of various disturbances, the present invention proposes a differential geometric nonlinear control method for a stable anti-interference attitude of the space manipulator, and obtains a nonlinear control law with simple form and anti-interference

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