空间机器人的SVM非线性补偿滑模控制研究

Research on SVM Nonlinear Estimation Sliding Mode Control of Space Robot

为提高机械臂末端跟踪目标轨迹速度,提出了一种基于SVM(Support Vector Machine)非线性模型估计的滑模控制方法。该方法通过SVM对参数不确定非线性项进行估计,对空间机器人动力学模型进行补偿。这种从整个闭环系统稳定性出发设计的SVM非线性补偿滑模控制器,不需要确切的数学模型,从而提高了快速跟踪目标轨迹,减小跟踪误差的动力学系统性能。仿真结果验证了该控制方法的有效性、可行性。

A method of sliding mode control based on SVM （Support Vector Machine） nonlinear estimation of the robotic dynamics has been proposed to acquire faster trajectory tracking rate of the space manipulator end.SVM regression is used to estimate the parameter uncertainty of the nonlinear term and to compensate dynamic model of space robot.This SVM nonlinearity compensated sliding mode controller designed on the stability of the closedloop system,avoiding computing precise model,has improved the dynamics performance of the system,achieving faster target trajectory tracking rate and reducing the tracking error.The simulation results show that the presented method is effective and feasible.