Impedance Control of Space Robot On-Orbit Insertion and Extraction Based on Prescribed Performance Method

Abstract

Aiming at the force position control problem of the on-orbit insertion and extraction operation of the free-floating space robot, the system dynamics model is established. According to the interaction between the end of manipulator and the environment, the second-order impedance model is established. In order to improves the calculation efficiency, the above models are reconstructed to avoid the use of acceleration signal by introducing filtering operation. This is also conducive to the application of robot actual control. Then, an estimator requiring only the system inertia matrix is designed to compensate the modeling uncertainty, external bounded disturbance and impact effect in the process of inserting and extracting. Its structure is simple and reliable. Only one control parameter needs to be adjusted, which greatly reduces the amount of calculation. Considering that the on-orbit operation of insertion and extraction is a kind of precision operation, its control system needs to have a high-quality control performance. By introducing the prescribed performance method, the tracking error is constrained within the given range and to ensure the transient performance and steady-state performance of the control system is ensured. Finally, three simulation conditions are designed, and the results are presented to verify that the proposed algorithm has a faster convergence speed compared with traditional sliding mode controller. It can achieve vertically inserting and accurate force tracking of the manipulator end.