基于Legendre伪谱法的空间机器人姿态运动的 最优控制基于Legendre伪谱法的空间机器人姿态运动的 最优控制.pdf

Journal of Aerospace Science and Technology 国际航空航天科学, 2015, 3(4), 77-83 Published Online December 2015 in Hans. /journal/jast /10.12677/jast.2015.34010 Attitude Optimal Control of Space Robot Based on the Legendre Pseudospectral Method 1 2 Kaijie Chen , Xinsheng Ge 1 College of Mechanical and Electrical Engineering, Beijing Information Science and Technology University, BISTU, Beijing 2 College of Applied Science, Beijing Information Science and Technology University, BISTU, Beijing th rd st Received: Dec. 9 , 2015; accepted: Dec. 23 , 2015; published: Dec. 31 , 2015 Copyright © 2015 by authors and Hans Publishers Inc. This work is licensed under the Creative Commons Attribution International License (CC BY). /licenses/by/4.0/ Abstract The optimal attitude control of free-floating space robot system with dual-arm is discussed in this paper by using Legendre pseudospectral method. The simplified robot system dynamics model is established based on the linear and angular momentum conservation of the system. And the sys- tem constraints and performance index function based on system joints dissipation energy are determined to describe the optimal control problem. Then the continuous trajectory optimization is transformed into a discrete nonlinear programming problem (NLP) by using Legendre pseu- dospectral method. And the energy-optimal solutions are obtained with a NLP solver. An optimal at- titude control method for the space robot is obtained. At the end of this paper, numerical simula- tions on the free-floating space robot attitude control problems are given. And the results verify the