引用本文: 郭琦, 吴勃英, 洪炳镕. 基于再生核理论实现多FFSR协调操作动力学控制[J]. 机器人, 2006, 28(3): 331-336.
GUO Qi, WU Bo-ying, HONG Bing-rong. Dynamic Control of Coordinated Operation for Multi-FFSR Based on Reproducing Kernel Theory[J]. ROBOT, 2006, 28(3): 331-336.
 Citation: GUO Qi, WU Bo-ying, HONG Bing-rong. Dynamic Control of Coordinated Operation for Multi-FFSR Based on Reproducing Kernel Theory[J]. ROBOT, 2006, 28(3): 331-336.

## Dynamic Control of Coordinated Operation for Multi-FFSR Based on Reproducing Kernel Theory

• 摘要: 基于再生核理论提出了在空间微重力环境下实现多自由飞行空间机器人（FFSR）协调操作的动力学控制方法．针对多个FFSR操作同一目标的情况，对目标期望轨迹进行采样，利用多FFSR协调操作的动力学方程，基于再生核理论实现了多FFSR协调操作的动力学控制．与现有的其它方法相比，该方法不用运动方程描述目标的运动轨迹，而是按照人们的需要控制目标做任意的非线性曲线运动，没有局限性；与多项式插值、样条插值相比，每增加一个节点，逼近误差在索伯列夫范数意义下单调下降；对任意形式加密的节点系，迭代过程一致收敛；公式单一，便于计算机计算．在仿真试验中验证了该方法的有效性．

Abstract: Based on reproducing kernel theory,the dynamic control method of coordinated operation for a team of free-flying space robots(FFSRs) in micro-gravity environment of space is presented.Expected trajectory of the target controlled by multi-FFSR is sampled,and the dynamic control of multi-FFSR coordinated operation is realized using dynamic equation of multi-FFSR coordinated operation based on the reproducing kernel theory.Comparing with other methods,the proposed method does not use motion equation to describe the moving trajectory and can control the target to move along an arbitrary and nonlinear curve according to the requirements,so the moving trajectory of the target has no limitations.This method has more advantages than polynomial interpolation and spline interpolation.When a node is increased each time,the approximate error decreases monotonically in the meaning of Sobolev norm.For the node system with intensive density in arbitrary form,the iterative process is uniformly convergent.Its formula is unitary and it can be calculated easily with computer.Simulation results show its effectiveness.

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