高技术通讯2017，Vol.27Issue(4)：342-350,9.DOI:10.3772/j.issn.1002-0470.2017.04.007
不同重力条件下含铰间间隙空间机械臂PDμ-SMC轨迹跟踪控制
PDμ-SMC trajectory tracking control of space manipulators with joint clearance under different gravity conditions
摘要
Abstract
The influence of gravity on the trajectory tracking control of a space manipulator with joint clearance was studied.Considering that the assembly and debugging of a manipulator is conducted under the ground gravity, while in space application it is influenced by the micro-gravity, so a manipulator well designed, assembled and debugged on the ground fails to achieve the expected control precision and effect in its space application, the study designed a fractional order PD sliding mode controller (PDμ-SMC) without a need of controlled subject model for control of a space manipulator with joint clearance.Based on the Lyapunov theory, the asymptotic stability of the closed-loop system was proved.The simulation results show that the control strategy can effectively suppress the external disturbance and successfully realize the fast and accurate tracking of the expected trajectory toward the space manipulator with joint clearance under different gravity conditions and external disturbance.关键词
空间机械臂/不同重力条件/铰间间隙/分数阶/滑模控制器(SMC)Key words
space robot arm/different gravity conditions/joint clearance/fractional order/sliding mode control (SMC)引用本文复制引用
刘福才,夏威,秦利,侯甜甜,郭宇..不同重力条件下含铰间间隙空间机械臂PDμ-SMC轨迹跟踪控制[J].高技术通讯,2017,27(4):342-350,9.基金项目
863计划(2013AA***),国家自然科学基金(51605415)和河北省自然科学基金(F2015203362,F2016203494)资助项目. （2013AA***）
