机械与电子2025，Vol.43Issue(9)：17-25,9.
自由飞行空间机器人高性能轨迹跟踪控制
High-performance Trajectory Tracking Control for Free-flying Space Robots
摘要
Abstract
Taking free-flying space robots as the research object,an improved super-twisting sliding mode control strategy with a finite-time disturbance observer is proposed to meet the high-performance trajectory tracking control requirements of space robots.Based on the dynamic equations of the space ro-bot,a finite-time observer is employed to estimate and compensate for system parameter uncertainties and external disturbances.To enhance system robustness,reduce chattering,and accelerate convergence,a traj-ectory tracking controller based on super-twisting sliding mode is designed for the space robot.Compara-tive simulation results demonstrate that the proposed control strategy provides excellent trajectory track-ing performance and robustness for the space robot.关键词
自由飞行空间机器人/动力学模型/改进超螺旋滑模控制/有限时间扰动观测器Key words
free-flying space robot/dynamic model/improved super-twisting sliding mode control/fi-nite-time disturbance observer分类
信息技术与安全科学引用本文复制引用
刘祺,顾秀涛,毛建恒,郭毓..自由飞行空间机器人高性能轨迹跟踪控制[J].机械与电子,2025,43(9):17-25,9.基金项目
国家自然科学基金资助项目(61973167) （61973167）
