摘要
In this paper,a novel adaptive dynamic sliding mode control(ADSMC)methodology is developed for space manipulator control systems with external disturbance.The proposed ADSMC approach can make the systems stable and accurately track the desired signals in the presence of external disturbances.Firstly,the simplified dynamic model of the manipulator is introduced.Then,the proposed adaptive dynamic sliding mode(ADSM)controller is given,which is proved to be able to guarantee high tracking accuracy via effectively estimating the disturbance boundary.Finally,experimental results show that the dynamic sliding mode controller proposed in this paper can not only track the desired trajectory,but also present strong robustness for external disturbance,meanwhile effectively reduce the chattering phenomenon generated by switching between different sliding mode surfaces.
基金
This work is supported by National Nature Science Foundation[grant number 61403210],[grant number 61601228],[grant number 61603191]
the Natural Science Foundation of Jiangsu Higher Education Institution[grant number 15KJB510016]
Natural Science Foundation of Jiangsu[grant number BK20161021]
sponsored by the Open Programme of Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing[item number 3DL201607].
