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A Coordinated Control Method for Space Manipulators Based on Adaptive Dynamic Programming Nash Game

A space manipulator and dynamic programming technology, applied in the direction of manipulators, program control manipulators, manufacturing tools, etc., can solve the problems of not being able to obtain the optimal control strategy, no clear control objectives, etc., to achieve easy engineering implementation, ensure stability, and coordinate control Effect

Active Publication Date: 2021-06-08
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

However, the above control methods do not have a clear control objective, and cannot obtain the optimal control strategy

Method used

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  • A Coordinated Control Method for Space Manipulators Based on Adaptive Dynamic Programming Nash Game
  • A Coordinated Control Method for Space Manipulators Based on Adaptive Dynamic Programming Nash Game
  • A Coordinated Control Method for Space Manipulators Based on Adaptive Dynamic Programming Nash Game

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Embodiment Construction

[0064] The present invention is described in further detail below:

[0065] Aiming at the strong nonlinearity, strong coupling and partial state output characteristics in the space manipulator system, the present invention proposes a multi-objective approximate optimal control strategy based on adaptive dynamic programming. First, the Lönberg class observer is designed to estimate All the state information in the system; secondly, design the adaptive dynamic programming iterative strategy of Nash control strategy; finally, use the neural network to approximate the multi-objective optimal control strategy.

[0066] The technical solution adopted by the present invention to solve its technical problems is: the space manipulator coordination control algorithm based on the adaptive dynamic programming Nash game is realized by the following steps:

[0067] 1. Model establishment

[0068] The dynamic model of the space manipulator is:

[0069] Among them, θ=[θ 1 θ 2 ] T , θ ...

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Abstract

The invention discloses a space manipulator coordination control method based on adaptive dynamic programming Nash game. Firstly, considering the strong nonlinearity of the 2-degree-of-freedom space manipulator and the strong coupling between joints, a discrete nonlinear system of the space manipulator is established. Secondly, the neural network is used to infinitely approximate the characteristics of nonlinear functions, and a Lomberg observer is designed to estimate all the state information in the system according to the system output information. Finally, a multi-objective adaptive dynamic programming approximate optimal control iterative algorithm is designed by using the neural network. The invention has the advantages of solving strong nonlinearity and coupling, multi-joint coordinated control, and the designed discrete controller is convenient for engineering realization.

Description

technical field [0001] The invention belongs to the field of space manipulator control, and relates to a space manipulator coordination control method, in particular to a space manipulator coordination control method based on adaptive dynamic programming Nash game. Background technique [0002] Space manipulator control systems play an increasing role in space missions such as on-orbit servicing, active debris removal, and interstellar exploration missions. However, the controller design is seriously hindered due to the strong nonlinear characteristics of multi-DOF manipulators and the strong coupling between joints. Therefore, it is particularly important to seek a control algorithm that can solve nonlinear characteristics and coupling characteristics. In addition, in a multi-DOF manipulator system, only part of the state information is output, which significantly increases the difficulty of controller design. Therefore, it is necessary to design a nonlinear state observe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602
Inventor 袁源张鹏孙冲于洋万文娅李晨
Owner NORTHWESTERN POLYTECHNICAL UNIV
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