控制理论与应用2012，Vol.29Issue(3)：395-400,6.
输入有界的自由漂浮柔性空间机器人轨迹跟踪控制
Trajectory-tracking control for free-floating flexible space robots with bounded inputs
摘要
Abstract
This paper is concerned with the trajectory-tracking of free-floating flexible space robots. By means of La- grange＇s equations and the mode-assumption method, the dynamical equations of the space robot are derived and analyzed. These equations are transformed into a fully controllable form with the flexible vibration disturbance based on the char- acteristics of the underactuated dynamical control and the flexible vibration. In considering the physical limitations of the actuator, we develop a robust control approach with adaptive state feedback to reduce the uncertain dynamic disturbance. A complete analysis on the stability and the performance are performed by using Lyapunov theory. Simulation results of the application to a two-link free-floating flexible space robot show the feasibility of the proposed controller.关键词
柔性空间机器人/自由漂浮/轨迹跟踪/输入受限/自适应Key words
flexible space manipulator/free-floating/trajectory-tracking/bounded inputs/adaptive control分类
信息技术与安全科学引用本文复制引用
翟艳霞,胡庆雷,徐梁,霍星..输入有界的自由漂浮柔性空间机器人轨迹跟踪控制[J].控制理论与应用,2012,29(3):395-400,6.基金项目
国家自然科学基金资助项目 （）
高等学校博士学科点专项科研基金资助项目 （）
黑龙江省博士后科研启动资助项目：中央高校基本科研业务费专项基金资助项目（HIT.NSRIF.2009003）. （）
