一种空间飞网机器人网型保持控制方法

A maintaining control method for maneuvering-net space robot

针对空间飞网机器人逼近目标过程中的网型保持控制问题,设计了一种基于积分切换函数的滑模变结构控制器,对自主机动单元逼近目标过程中的位置和速度偏差进行控制,保证各自主机动单元以一定的相对速度沿着期望轨迹运动,进而实现网型保持的目的。仿真结果表明,所设计的控制器是合理的,能够达到设计要求。

In order to maintain the shape of space net in approaching phase,an integral-switch slidingmode variable structure controller was introduced to control the error of position and velocity of the autonomous maneuvering units. The simulation results show that the sliding-mode variable structure controller is effective and feasible on the maintenance control for the shape of the space net.