›› 2016, Vol. 36 ›› Issue (4): 17-.doi: 10.16708/j.cnki.1000-758X.2016.0042
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KONG Xiang-Long, LI Wen-Long, LI Wen-Feng, ZHAO Yi
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Abstract: Mostalgorithmsofinertiaparametersidentificationassumedthesystemmomentumknownandfewattentionwaspaidtotheattitudestabilizationofbase.Anincrementalformoftheidentificationequationwasgivenbasedontheconservationprincipleofmomentumandafractionalstepmethodwasproposed.Firstly,estimationequationsaboutthemassandpositionofmasscenterwereobtainedandtheunknownconstantlinearmomentumwaseliminatedinincrementalformulation.Theestimateoflinearmomentumwascalculatedwiththeestimatedparametersandthensubstitutedintoestimationequationsabouttheinertiatensors.Theincrementalequationswereobtainedagaintoeliminatetheunknownconstantangularmomentum.Anadaptivereactionlesscontrollerwasusedtopersistentlyexcitetherobotarm,whichguaranteedtheconvergenceofthealgorithmaswellasthestabilizationofbaseattitude.Simulationsresultsshowthatinertialparametersareaccuratelyidentifiedandtheangularvelocitiesofthebasearelessthan10-3,whichcanbeviewedasnearlyundisturbed.
Key words: uncooperativetarget, attitudestabilization, redundantdegreeoffreedom, inertiaparameteridentification, reactionnullspace, adaptivecontrol
KONG Xiang-Long, LI Wen-Long, LI Wen-Feng, ZHAO Yi. Inertiaparameteridentificationofonorbituncooperativeobject[J]. , 2016, 36(4): 17-.
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URL: http://journal26.magtechjournal.com/kjkxjs/EN/10.16708/j.cnki.1000-758X.2016.0042
http://journal26.magtechjournal.com/kjkxjs/EN/Y2016/V36/I4/17