摘要
针对载体位置、姿态均不受控且存在参数不确定和外部扰动的漂浮基空间机器人系统,提出一种全局鲁棒有限时间轨迹跟踪控制方法。结合系统的动量守恒关系,采用第二类拉格朗日方程建立欠驱动形式的系统动力学方程,借助增广变量法提出漂浮基空间机器人系统的全局鲁棒有限时间轨迹跟踪控制方法。采用相关理论证明了系统的全局有限时间稳定性。数值仿真结果表明,该控制方法具有良好的控制效果。
It presents a global robust finite-time tracking control method for free-floating space robot with unknown parameters and external disturbances. Using the momentum conservation and the Lagrange equation,it builds the dynamic equations of system,designs the global robust finite-time tracking control method with the augmentation approach. The method has fast convergence,high accuracy and strong robustness. Based on relevance theory it analyzes the finite-time stability of system. The numerical simulation results show the good effectiveness of the method in both position control and tracking control.
出处
《机械设计与制造工程》
2017年第7期42-45,共4页
Machine Design and Manufacturing Engineering
基金
国家自然科学基金资助项目(11372073
11072061)
福建省工业机器人基础部件技术重大研发平台(2014H21010011)
关键词
漂浮基空间机器人
轨迹跟踪
鲁棒有限时间控制
增广变量法
free-floating space robot
trajectory tracking
robust finite-time control
augmentation approach
