信息与控制2025，Vol.54Issue(6)：840-850,11.DOI:10.13976/j.cnki.xk.2024.3942
基于指令滤波的柔性关节空间机器人固定时间轨迹跟踪控制
Command Filter Based Fixed-time Trajectory Tracking Control for Flexible-joint Space Robots
摘要
Abstract
To resolve the susceptibility of flexible-joint free-flying space robots to elastic vibrations dur-ing motion owing to external disturbances and model uncertainties,which decrease control accuracy at the end of the manipulator,we propose a nonsingular fixed-time command filtering backstepping control method.Firstly,to avoid the"explosion of complexity"caused by the recursive differentia-tion of the virtual control law for backstepping,we utilize a fixed-time command filter to obtain the derivative of the desired virtual control law and its derivatives.Furthermore,to eliminate the filte-ring errors generated by the command filter,we propose a nonsingular fixed-time filtering error compensation algorithm to improve the tracking accuracy of the system.Subsequently,we present a command filtering backstepping tracking controller based on Lyapunov's stability theory,ensu-ring that the proposed controller can facilitate the convergence of system tracking errors to the ori-gin within a fixed time.The simulation results demonstrate that the designed nonsingular fixed-time command filtering backstepping controller exhibits high convergence speed and tracking accuracy.关键词
柔性关节空间机器人/指令滤波/滤波误差/反步法/非奇异固定时间控制Key words
flexible-joint space robot/command filter/filtering error/backstepping method/nonsingular fixed-time control分类
信息技术与安全科学引用本文复制引用
洪梦情,顾秀涛,印杰,郭毓..基于指令滤波的柔性关节空间机器人固定时间轨迹跟踪控制[J].信息与控制,2025,54(6):840-850,11.基金项目
国家自然科学基金项目(61973167,72401110,62202209) （61973167,72401110,62202209）
江苏省高等学校基础科学(自然科学)研究项目(25KJB413002,25KJB510004,25KJB58006) （自然科学）
"十四五"江苏省重点学科"网络空间安全"资助项目 （）
江苏海事职业技术学院科研项目(2024ZKyb12) （2024ZKyb12）
