自由飞行空间机器人高性能轨迹跟踪控制OA
High-performance Trajectory Tracking Control for Free-flying Space Robots
以自由飞行空间机器人为研究对象,针对高性能轨迹跟踪控制要求,提出了一种带有有限时间扰动观测器的改进超螺旋滑模控制策略.根据空间机器人的动力学方程,采用有限时间观测器对系统的参数不确定性和外部扰动进行估计并加以补偿.为提高系统鲁棒性、减小抖振并加快收敛速度,设计了一种基于改进超螺旋滑模的空间机器人轨迹跟踪控制器.对比仿真结果表明,所提控制策略可使空间机器人具有较好的轨迹跟踪性能和鲁棒性.
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.
刘祺;顾秀涛;毛建恒;郭毓
南京理工大学自动化学院,江苏南京 210094江苏海事职业技术学院,江苏南京 211170南京理工大学自动化学院,江苏南京 210094南京理工大学自动化学院,江苏南京 210094
信息技术与安全科学
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
free-flying space robotdynamic modelimproved super-twisting sliding mode controlfi-nite-time disturbance observer
《机械与电子》 2025 (9)
17-25,9
国家自然科学基金资助项目(61973167)
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