关键词: 非合作目标, 姿态稳定, 冗余自由度, 惯性参数辨识, 反作用零空间, 自适应控制

Abstract: Mostalgorithmsofinertiaparametersidentificationassumedthesystemmomentumknownandfewattentionwaspaidtotheattitudestabilizationofbase.Anincrementalformoftheidentificationequationwasgivenbasedontheconservationprincipleofmomentumandafractionalstepmethodwasproposed.Firstly,estimationequationsaboutthemassandpositionofmasscenterwereobtainedandtheunknownconstantlinearmomentumwaseliminatedinincrementalformulation.Theestimateoflinearmomentumwascalculatedwiththeestimatedparametersandthensubstitutedintoestimationequationsabouttheinertiatensors.Theincrementalequationswereobtainedagaintoeliminatetheunknownconstantangularmomentum.Anadaptivereactionlesscontrollerwasusedtopersistentlyexcitetherobotarm,whichguaranteedtheconvergenceofthealgorithmaswellasthestabilizationofbaseattitude.Simulationsresultsshowthatinertialparametersareaccuratelyidentifiedandtheangularvelocitiesofthebasearelessthan10^-3,whichcanbeviewedasnearlyundisturbed.

Key words: uncooperativetarget, attitudestabilization, redundantdegreeoffreedom, inertiaparameteridentification, reactionnullspace, adaptivecontrol