CN105301959A - A Control Method for Space Robots Independent of Model Parameters - Google Patents

Abstract

The invention discloses a space robot control method independent of model parameters, comprising the following steps: determining the number of control channels according to the number of degrees of freedom of the space robot, and the number of control channels is the same as the number of degrees of freedom; according to the platform attitude angle and the number of degrees of freedom of the space robot Angular velocity and the joint angle and joint angular velocity of each arm of the manipulator to determine the adaptive sliding mode controller for each control channel; according to the high-order state observer of the space robot, the angular velocity of the platform and the angular velocity of each arm of the manipulator are estimated And the estimated quantity of internal and external disturbance of the space robot; the angular velocity of the platform and the angular velocity of each arm of the manipulator are used to replace the measured quantities of the angular velocity of the platform and the angular velocity of each arm of the manipulator, and the adaptive sliding mode controller is updated. The invention can improve the precise control of the space robot without depending on the system parameters.

Description

A kind of robot for space control method of independent of model parameter

Technical field

The present invention relates to a kind of robot for space control method, particularly a kind of independent of model parameter, the strong robustness Adaptive variable control with high state observer designs, belong to robot for space field.

Background technology

Space Robot System is typical strong nonlinearity, a strongly coupled system, and there is the problems such as Parameter uncertainties, outer interference and Unmarried pregnancy in application, and thus its control problem is comparatively complicated.At present, a lot of control method is applied to robotics system, such as Adaptive PID Control (KucTY, HanWG.AnAdaptivePIDLearningControlofRobotManipulators.Au tomatica, 2000, 36 (5): 717-725.), Sliding mode variable structure control (ManZH, PalaniswamiM.RobustTrackingControlforRigidRoboticManipul ators.IEEETransactionsonAutomaticControl, 1994, 39 (1): 154-159.), adaptive control (XuY, ShumH-Y, LeeJ-J, KanadeT.AdaptiveControlofSpaceRobotSystemWithanAttitudeC ontrolledBase.Proceedingsofthe1992IEEEInternationalConfe renceonRoboticsandAutomation, Nice, France, 1992.), Robust Adaptive Control (SpongMW.OntheRobustControlofRobotManipulators.IEEETransa ctionsonAutomaticControl, 1992, 37 (11): 1782 – 1786.) etc.But the current existing control law information needing systematic parameter more or less, the quality, inertia, installation parameter etc. in such as joint.Therefore result in for different Space Robot Systems, need for each system specialized designs controller to realize task object.This considerably increases the workload of system, and make the controller partial dependency systematic parameter of design.Therefore, desired design does not rely on the controller of robot for space parameter completely, makes single controller be applicable to all Space Robot Systems.Thus simplify the work of control design case.

From control program, the control system of robot for space can be divided into centerized fusion and distributing to control two classes.From reducing the dependence of Controller gain variations for model, Controller gain variations dirigibility and range of application, obvious distributing control program is more suitable for the controller designing complete individual system parameters; That is the design of controller is independently carried out in each joint of mechanical arm, and like this, designed controller can not rely on system dynamics model completely, and control method can be applicable in the mechanical arm system of all kinds of different configuration.

But distributing control program also has the technical difficulty in its design.First, because each joint is independently designed, the impact of other joints and Platform movement is outer disturbance to controller; Further, due to joint angle acceleration, even angular velocity is difficult to measure, and these disturbances can not be surveyed, and be also difficult to estimate the upper limit, this proposes very high requirement to the robustness of controller.Secondly, in distributing control program, the mass property parameter (inertia) in each joint be on a large scale time become, this proposes challenge to the Parameter uncertainties adaptability of controller; Again, because engineering upper joint angular velocity is difficult to Measurement accuracy, thus need to design the controller only needing to measure joint angle.

Summary of the invention

Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, provide a kind of robot for space control method of independent of model parameter, the present invention is combined by high state observer and adaptive sliding-mode observer, the internal and external interference of effective bucking-out system, under the prerequisite of only measurement mechanical shoulder joint angle position information, realize mechanical arm high precision and control.

Technical solution of the present invention is:

A robot for space control method for independent of model parameter, comprises following steps:

(1) according to the number of degrees of freedom, of robot for space, determine control channel number, control channel number is identical with number of degrees of freedom;

(2) according to the platform stance angle of robot for space and the joint angle of angular velocity and each armed lever of mechanical arm and joint angle speed, the adaptive sliding mode controller of each control channel in determining step (1);

(3) according to the high state observer of robot for space, the estimator of the estimator of mesa corners speed and mechanical arm each armed lever angular velocity and the inside and outside disturbance of robot for space is obtained;

(4) utilize the estimator of the mesa corners speed in (3) and mechanical arm each armed lever angular velocity to replace the measuring amount of mesa corners speed in (2) and each armed lever angular velocity of mechanical arm, and repeat step (2) more row adaptive sliding mode controller.

In step (2), the performing step of adaptive sliding mode controller is as follows:

(2.1) adaptive sliding mode controller of each control channel is determined:

Wherein, u represents the controlled quentity controlled variable that adaptive sliding mode controller exports; x represents the joint angle of robot platform attitude angle or each armed lever of mechanical arm, represent the angular velocity of platform or the angular velocity of each armed lever of mechanical arm; λ > 0; represent self-adaptation handoff gain; K _d, λ and ε ₀be constant, wherein K _d> 0; κ > 0, κ represents the adaptive gain sensitive coefficient of handoff gain; Sat () is saturation function, definition r is boundary layer thickness;

(2.2) motion of robot for space platform stance, each armed lever of mechanical arm are rotated and be considered as each degree of freedom independently one dimension second-order system, this one dimension second order model is:

Wherein, x represents the joint angle of robot platform attitude angle or each armed lever of mechanical arm; represent the angular velocity of platform or the angular velocity of each armed lever of mechanical arm; represent the angular acceleration of platform or the angular acceleration of each armed lever of mechanical arm; m ₀the generalized mass of each freedom of motion of representation space robot; The indeterminate of each freedom of motion generalized mass of Δ m representation space robot; f _c=um ₀; f _dexpression system unknown disturbances power;

(2.3) by each degree of freedom independently one dimension second order model in step (2.2), carry out arrangement and obtain as drag:

Wherein, the inside and outside disturbance of Δ u representation space robot;

(2.4) obtain in determining step (2.3) whether meet the desired the angular acceleration of platform or the angular acceleration of each armed lever of mechanical arm, if meet, in description of step (2.1), adaptive sliding mode controller meets the demands, if do not meet, adjustment parameter re-starts the design of step (2.1), until meet the demands;

(2.5) according to the controlled quentity controlled variable that adaptive sliding mode controller exports, the true control f of robot for space is determined _c1:

f _c1＝K _dynamicsu(5)

Wherein, K _dynamicsrepresent (m ₀+ Δ m) estimated value.

In step (3), high state Design of Observer step is:

(3.1) will be organized into following form:

Wherein x ₁=x,

(3.2) High-Order Sliding Mode observer is designed:

Wherein, x ₁the measuring amount of the joint angle of the platform stance angle of representation space robot or each armed lever of mechanical arm is known quantity; represent the estimator of the joint angle of platform stance angle or each armed lever of mechanical arm, represent derivative; represent the estimator of the joint angle speed of mesa corners speed or each armed lever of mechanical arm, represent derivative; represent observer intermediate variable, represent derivative; χ ₁represent intermediate variable; represent the estimated value to disturbance inside and outside robot for space; γ ₁> 0, γ ₂> 0 and γ ₃> 0 represents observer parameter;

(3.3) by selecting suitable parameter γ ₁, γ ₂, γ ₃, can estimated value be made and disturbance estimated value at Finite-time convergence to its actual value.

The present invention's beneficial effect is compared with prior art:

(1) adaptive sliding mode controller is combined with High-Order Sliding Mode observer by the present invention, not only without the need to the upper bound of known polymerization disturbance, and can compensate polymerization disturbance, further raising control accuracy, simultaneously without the need to the speed amount of measuring system, solve the problem of joint angle speed not easily Measurement accuracy, versatility strengthens greatly, and is easy to realize.

(2) the present invention is applicable to have uncertain, the outer interference of structural parameters and nonlinear system, and without the need to the upper bound of known polymerization disturbance, the present invention can ensure systems compliant bounded stability, steady state controling precision can be regulated by the parameter adjusting adaptive sliding mode controller, flexibly controlled, simultaneously wherein add High-Order Sliding Mode observer in control, with control inputs and system displacement for input, accurately can estimate system speed amount and polymerization disturbance.

(3) the present invention can to the identical controller of each channels designs structure of multivariant Space Robot System, when controlled device changes, only need for the number of degrees of freedom, of controlled device, increase or reduce the port number of controller, namely can realize control objectives, therefore practicality of the present invention and versatility are all very strong.

(4) application extension space of the present invention is larger, different controlled devices can be applied to, the robot for space of such as different configuration, the field such as industrial robot or even automobile, without the need to configuration speed sensor in the system that the present invention uses, only need measuring system displacement, simplify Control system architecture, reduce cost.Due to the highly versatile of the method, structure is simple, compared to other self-adaptation control method, has the very large market competitiveness.

(5) of the present invention have universality, can promote, and namely the method is not only applicable to this kind of multiple degrees of freedom second order nonlinear time-varying systems of robot, and is applicable to the control of general linear multi degrees of freedom kinematic system.

Accompanying drawing explanation

Fig. 1 is the inventive method process flow diagram;

Fig. 2 is autonomous configuration robot arm schematic diagram in the present embodiment;

Fig. 3 is mechanical arm distortion schematic diagram in the present embodiment.

Embodiment

Below in conjunction with accompanying drawing, the course of work of the present invention and principle of work are further explained.

As shown in Figure 1, the robot for space control method of a kind of independent of model parameter of the present invention comprises following steps:

(1) according to the number of degrees of freedom, of robot for space, determine control channel number, control channel number is identical with number of degrees of freedom;

(2) according to the platform stance angle of robot for space and the joint angle of angular velocity and each armed lever of mechanical arm and joint angle speed, the adaptive sliding mode controller of each control channel in determining step (1);

(3) according to the high state observer of robot for space, the estimator of the estimator of mesa corners speed and mechanical arm each armed lever angular velocity and the inside and outside disturbance of robot for space is obtained;

Joint angle and the angular velocity of the platform stance angle in step 2 and angular velocity and each armed lever of mechanical arm are obtained by angular velocity sensor, because sensor exists certain error, so add the estimation that high state observer carries out angular velocity and interference in step (3), improve control accuracy

(4) utilize the measuring amount of mesa corners speed in the estimator replacement step (2) of the mesa corners speed in step (3) and mechanical arm each armed lever angular velocity and each armed lever angular velocity of mechanical arm, and repeat step (2) and upgrade adaptive sliding mode controller.

The performing step of adaptive sliding mode controller is as follows:

The effect of adaptive sliding mode controller obtains control moment according to system motion state with to the estimation of disturbance, that system motion arrives sliding-mode surface and is tending towards zero point, this controller can regulate auto-adaptive parameter size according to the degree of system state departure sliding-mode surface, improves controller's effect.

The performing step of adaptive sliding mode controller is as follows:

(2.1) adaptive sliding mode controller of each control channel is determined:

Wherein, u represents the controlled quentity controlled variable that adaptive sliding mode controller exports; x represents the joint angle of robot platform attitude angle or each armed lever of mechanical arm, represent the angular velocity of platform or the angular velocity of each armed lever of mechanical arm; λ > 0; represent self-adaptation handoff gain; K _d, λ and ε ₀be constant, wherein K _d> 0; κ > 0, κ represents the adaptive gain sensitive coefficient of handoff gain; Its value is less, and adaptive gain change is faster; Sat () is saturation function, definition r is boundary layer thickness; R value is less, and the characteristic of saturation function is more close to sign function, and corresponding departure is also less, but produce flutter may be larger.Its value is larger, flutter may be less, but departure can increase.Therefore boundary layer thickness needs compromise to choose.

The adaptive law principle of formula 1 and 2 can underdraw into: using the size of S as the pace of change foundation of self-adaptation handoff gain, as long as S ≠ 0, handoff gain just continues to increase; System motion track departs from sliding-mode surface larger (| S| is larger), and self-adaptation handoff gain increases faster, and to strengthen the interference rejection capability of system, flog system state motion is to sliding-mode surface S=0.ε ₀> 0 is the constant value part in handoff gain, in order to strengthen the robustness of system to interference further.

(2.2) motion of robot for space platform stance, each armed lever of mechanical arm are rotated and be considered as each degree of freedom independently one dimension second-order system, be considered as outer interference by the coupling terms between each degree of freedom, this one dimension second order model is:

Wherein, x represents the joint angle of robot platform attitude angle or each armed lever of mechanical arm; represent the angular velocity of platform or the angular velocity of each armed lever of mechanical arm; represent the angular acceleration of platform or the angular acceleration of each armed lever of mechanical arm; m ₀the generalized mass of each freedom of motion of representation space robot; The indeterminate of each freedom of motion generalized mass of Δ m representation space robot; f _c=um ₀; f _dexpression system unknown disturbances power (friction of such as joint and damping and environmental interference factor etc.); the non-linear partial of expression system; Formula (1) has taken into full account the Parameter uncertainties of system, non-linear and outer interference, is one and has extensive representational Kind of Nonlinear Dynamical System model.Different systems functional form is different, obtains according to concrete system.

(2.3) by each degree of freedom independently one dimension second order model in step (2.2), carry out arrangement and obtain as drag:

Wherein, (interior disturbance comprises the uncertainty of mass inertia installation site and the friction in joint and damping, outer disturbance and comprises unknown environmental interference power in the inside and outside disturbance of Δ u representation space robot, suppose that internal and external interference is bounded, when specifically solving, Δ u can replace with enough large constant, and the scope of constant is different according to the configuration difference of robot for space);

(2.4) obtain in determining step (2.3) whether meet the desired the angular acceleration of platform or the angular acceleration of each armed lever of mechanical arm, if meet, in description of step (2.1), adaptive sliding mode controller meets the demands, if do not meet, adjustment parameter re-starts the design of step (2.1), until meet the demands;

(2.5) according to the controlled quentity controlled variable that adaptive sliding mode controller exports, the true control f of robot for space is determined _c1:

f _c1＝K _dynamicsu(5)

Wherein, K _dynamicsrepresent (m ₀+ Δ m) estimated value.

High state observer

High state observer can be estimated system disturbance, and is compensated in the controller; It also can the speed (platform stance angular velocity, joint of mechanical arm angular velocity) of estimating system, and for controlling feedback, this makes only to need in the control program of system to measure displacement (platform stance angle, joint of mechanical arm angle), and without the need to measuring speed amount, enormously simplify system configuration.

High state Design of Observer step is:

(3.1) will be organized into following form:

Wherein x ₁=x,

(3.2) High-Order Sliding Mode observer is designed:

Wherein, x ₁the measuring amount of the joint angle of the platform stance angle of representation space robot or each armed lever of mechanical arm is known quantity; represent the estimator of the joint angle of platform stance angle or each armed lever of mechanical arm, represent derivative; represent the estimator of the joint angle speed of mesa corners speed or each armed lever of mechanical arm, represent derivative; represent observer intermediate variable, represent derivative; χ ₁represent intermediate variable; represent the estimated value to disturbance inside and outside robot for space; γ ₁> 0, γ ₂> 0 and γ ₃> 0 represents observer parameter (setting according to system);

(3.3) by selecting suitable parameter γ ₁, γ ₂, γ ₃, can estimated value be made and disturbance estimated value at Finite-time convergence to its actual value.

To change the stage for the armed lever length of space allosteric type robot, the course of work of the present invention and principle of work are further explained below:

The present invention can be applied to the robot of multiple not same-action, different configuration.Change the stage for the armed lever length of space allosteric type robot below, the concrete steps that the method that the present invention carries controls for closed loop configuration robot for space are described.

As shown in Figure 2, closed loop configuration robot for space comprise armed lever 1, armed lever 3, armed lever 4, armed lever 7, armed lever 8, armed lever 9, armed lever 10, armed lever 11, armed lever 12, each armed lever cut with scissors by passive cylinder or post hinge be connected.

As shown in Figure 3, the control object of this exemplifying embodiment changes the relative translational movement displacement between armed lever 3 and armed lever 4, be connected by passive cylinder hinge 5 between armed lever 3 with armed lever 4 that (passive cylinder cuts with scissors 5 inside does not have active actuator, need to apply control moment at all the other hinge places, control the relative motion of armed lever 3 and armed lever 4).First mechanical arm 14 (armed lever 3, armed lever 4, passive cylinder hinge 5 and armed lever 16 constitute the first mechanical arm 14) and the first mechanical arm 15 (being made up of armed lever 17 and other armed levers) are caught mutually and are formed closed loop configuration, unlock passive cylinder hinge 5, control moment is applied at all the other joints, relative position between armed lever 3 and armed lever 4 is increased, realizes changing armed lever length.Need in control procedure to maintain the stable of robot platform attitude, amount to be designed is the control moment in gesture stability moment and each joint.

Step one: according to robot for space number of degrees of freedom (comprising 3 degree of freedom of robot platform attitude, and manipulator motion degree of freedom, 12), determine that control channel number is 15.

Step 2: to each passage, designs following adaptive sliding mode controller,

Wherein, 3 channel parameters of gesture stability are identical, are K _d=0.1, λ=0.5, ε ₀=0.05, κ=0.02, τ=0.01, r=0.001; 12 channel parameters that mechanical arm controls are identical, are K _d=1, λ=10, ε ₀=0.1, κ=0.001, τ=0.01, r=0.001.

Step 4: introduce High-Order Sliding Mode observer and system disturbance is estimated, and compensated in the controller.High-order Observer Structure is provided by following formula, and the observer parameter of all 15 passages is identical,

Wherein γ ₁=2.1, γ ₂=4.2 and γ ₃=8.4.

Scope is not only confined to the present embodiment, the present embodiment for explaining the present invention, all changes with the present invention under same principle and design condition or revise all within protection domain disclosed by the invention.

Claims (3)

1. A space robot control method independent of model parameters, characterized in that it comprises the following steps: (1) Determine the number of control channels according to the number of degrees of freedom of the space robot, and the number of control channels is the same as the number of degrees of freedom; (2) According to the platform attitude angle and angular velocity of the space robot and the joint angle and joint angular velocity of each arm bar of the mechanical arm, determine the adaptive sliding mode controller of each control channel in step (1); (3) According to the high-order state observer of the space robot, the angular velocity of the platform, the angular velocity of each arm of the manipulator, and the estimated quantity of the internal and external disturbance of the space robot are obtained; (4) Use the estimated angular velocity of the platform and the angular velocity of each arm of the manipulator in step (3) to replace the angular velocity of the platform and the measured values of the angular velocity of each arm of the manipulator in step (2), and repeat step (2) to update from Adapted to a sliding mode controller. 2. a kind of space robot control method that does not depend on model parameter according to claim 1, it is characterized in that: the realization step of self-adaptive sliding mode controller in described step (2) is as follows: (2.1) Determine the adaptive sliding mode controller for each control channel: $\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; K</span>}}_{\mathrm{<span\; class="notranslate">\; D.</span>}}\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&lambda;</span>}\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; +</span>\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}}<span\; class="notranslate">\; )</span>\mathrm{<span\; class="notranslate">\; sat</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$ $\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}}}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; 1</span>}}{\mathrm{<span\; class="notranslate">\; \&kappa;</span>}}<span\; class="notranslate">\; (</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&tau;</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&epsiv;</span>}}<span\; class="notranslate">\; +</span><span\; class="notranslate">\; |</span>\mathrm{<span\; class="notranslate">\; S</span>}<span\; class="notranslate">\; |</span><span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$ Among them, u represents the control quantity output by the adaptive sliding mode controller; x represents the attitude angle of the robot platform or the joint angle of each arm of the manipulator, Indicates the angular velocity of the platform or the angular velocity of each arm of the robotic arm; λ>0; Indicates the adaptive switching gain; K _D , λ and ε ₀ are all constants, where K _D >0;κ>0, κ represents the adaptive gain change sensitivity coefficient of the switching gain; sat( ) is a saturation function, defined $\mathrm{sat}\left(S\right)=\left\{\begin{array}{cc}\frac{({\mathrm{\&epsiv;}}_0+\widehat{\mathrm{\&epsiv;}})S}{r},& ({\mathrm{\&epsiv;}}_0+\widehat{\mathrm{\&epsiv;}})\left|S\right|\&le;r\\ \mathrm{sign}\left(S\right),& ({\mathrm{\&epsiv;}}_0+\widehat{\mathrm{\&epsiv;}})\left|S\right|>r\end{array}\right.,$ r is the thickness of the boundary layer; (2.2) The attitude motion of the space robot platform and the rotation of each arm of the manipulator are regarded as a one-dimensional second-order system with independent degrees of freedom. The one-dimensional second-order system model is: $<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; m</span>}}_{\mathrm{<span\; class="notranslate">\; 0</span>}}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;m</span>}<span\; class="notranslate">\; )</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; f</span>}}_{\mathrm{<span\; class="notranslate">\; non</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; x</span>}<span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$ Among them, x represents the attitude angle of the robot platform or the joint angle of each arm of the mechanical arm; Indicates the angular velocity of the platform or the angular velocity of each arm of the robotic arm; Represents the angular acceleration of the platform or the angular acceleration of each arm of the mechanical arm; m ₀ represents the generalized quality of each degree of freedom of motion of the space robot; Δm represents the uncertainty item of the generalized quality of each degree of freedom of motion of the space robot; f _c =um ₀ ; _d represents the unknown disturbance force of the system; (2.3) Arranging the one-dimensional second-order system model with independent degrees of freedom in step (2.2) to obtain the following model: $\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;u</span>}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$ Among them, Δu represents the internal and external disturbance of the space robot; (2.4) Calculated in the judgment step (2.3) Whether it meets the expected angular acceleration of the platform or the angular acceleration of each arm of the manipulator. If it is satisfied, it means that the adaptive sliding mode controller in step (2.1) meets the requirements. If not, adjust the parameters and redesign the step (2.1) , until the requirements are met; (2.5) According to the control quantity output by the adaptive sliding mode controller, determine the real control force f _c1 of the space robot: f _c1 =K _dynamics u(5) Wherein, K _dynamics represents an estimated value of (m ₀ +Δm). 3. a kind of space robot control method that does not depend on model parameter according to claim 1, it is characterized in that: the high-order state observer design step in the described step (3) is: (3.1) will Organized into the following form: $\left\{\begin{array}{c}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}\\ {\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;u</span>}\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 6</span>}<span\; class="notranslate">\; )</span>$ where x ₁ =x, (3.2) Design a high-order sliding mode observer: $\left\{\begin{array}{c}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\mathrm{<span\; class="notranslate">\; \&chi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}\\ {\mathrm{<span\; class="notranslate">\; \&chi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}{<span\; class="notranslate">\; |</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 3</span>}}\mathrm{<span\; class="notranslate">\; sign</span>}<span\; class="notranslate">\; (</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; x</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span>\\ {\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; u</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; u</span>}}\\ \mathrm{<span\; class="notranslate">\; \&Delta;</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}{<span\; class="notranslate">\; |</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&chi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; |</span>}^{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; /</span>\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; sign</span>}<span\; class="notranslate">\; (</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; \&chi;</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; +</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\\ {\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; =</span>{<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&gamma;</span>}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}\mathrm{<span\; class="notranslate">\; sign</span>}<span\; class="notranslate">\; (</span>{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; x</span>}}}_{\mathrm{<span\; class="notranslate">\; 3</span>}}<span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; \&Delta;</span>}\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; u</span>}}<span\; class="notranslate">\; )</span>\end{array}\right.<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 7</span>}<span\; class="notranslate">\; )</span>$ Wherein, x ₁ represents the measured quantity of the platform attitude angle of the space robot or the joint angle of each arm of the mechanical arm, which is a known quantity; represents the estimation of the attitude angle of the platform or the joint angle of each arm of the manipulator, express derivative of represents an estimate of the angular velocity of the platform or the joint angular velocity of each arm of the robotic arm, express derivative of represents an observer intermediate variable, express The derivative of ; χ ₁ represents the intermediate variable; Indicates the estimated value of the internal and external disturbance of the space robot; γ ₁ >0, γ ₂ >0 and γ ₃ >0 represent the observer parameters; (3.3) By choosing appropriate parameters γ ₁ , γ ₂ , γ ₃ , the estimated value and the disturbance estimate converges to its true value in finite time.