摘要
针对自由漂浮柔性空间机器人的轨迹跟踪控制问题,利用拉格朗日和假设模态法建立了动力学模型,综合考虑其欠驱动、柔性振动等特点,将其简化为一种带有柔性振动扰动完全可控的动力学模型;在此基础上,考虑载体姿态干扰,提出一种改进自适应非奇异终端滑模控制策略,该方法采用自适应技术实时在线学习扰动参数,并引入条件积分改进滑模面消除干扰引起的稳态误差,从而保证所设计的控制律对扰动具有良好的鲁棒性;最后,基于Lyapunov方法证明了该控制策略能够实现关节期望轨迹的跟踪.仿真结果表明该控制策略对载体姿态干扰下系统轨迹跟踪控制的有效性和可靠性.
The problem of trajectory tracking of a two-link free-floating flexible space robot is concerned in this paper.The dynamic equations of the robot are firstly developed by using Lagrange＇s principle with elastic vibration,and then they are transformed into a fully controllable form with the flexible vibration disturbance for the purpose of controller synthesis.By this simplified model,a robust control approach using adaptive non-singular terminal sliding mode is developed,in which the dynamic uncertainty and disturbance can be eliminated via the online updating law,and the associated Lyapunov stability analysis are also investigated.Numerical simulation results show that the sliding mode is modified by adding a conditional integral to reduce the stable error in the present of attitude disturbance of a spacecraft.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2012年第5期1-6,共6页
Journal of Harbin Institute of Technology
基金
国家自然科学基金资助项目(61004072)
高等学校博士学科点专项科研基金资助项目(20102302110031)
黑龙江省博士后科研启动基金资助项目
哈尔滨市留学回国基金资助项目(2010RFLXG001)
中央高校基本科研业务费专项基金资助项目(HIT.NSRIF.2009003)
关键词
柔性空间机器人
自由漂浮
轨迹跟踪
非奇异终端滑模
自适应控制
条件积分
flexible space robot
free-floating
trajectory tracking
non-singular terminal sliding mode
adaptive control
conditional integral
