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Mathematical Problems in Engineering
Volume 2015, Article ID 369747, 11 pages
http://dx.doi.org/10.1155/2015/369747
Research Article

Research on Construction Method of Operational Reliability Control Model for Space Manipulator Based on Particle Filter

1School of Automation, Beijing University of Posts and Telecommunications, No. 10, Xitucheng Road, Haidian District, Beijing 100876, China
2School of Automation, Beihang University, No. 37, Xueyuan Road, Haidian District, Beijing 100191, China

Received 28 August 2015; Accepted 18 October 2015

Academic Editor: Panos Liatsis

Copyright © 2015 Xin Gao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

The operational reliability of the space manipulator is closely related to the control method. However the existing control methods seldom consider the operational reliability from the system level. A method to construct the operational reliability system control model based on particle filter for the space manipulator is presented in this paper. Firstly, the definition of operational reliability and the degree of operational reliability are given and the state space equations of the control system are established as well. Secondly, based on the particle filter algorithm, a method to estimate the distribution of the end position error and calculate the degree of operational reliability with any form of noise distribution in real time is established. Furthermore, a performance model based on quality loss theory is built and a performance function is obtained to evaluate the quality of the control process. The adjustment value of the end position of the space manipulator can be calculated by using the performance function. Finally, a large number of simulation results show that the control method proposed in this paper can improve the task success rate effectively compared to the simulation results using traditional control methods and control methods based on Bayesian estimation.