漂浮基双臂空间机器人协调运动的Terminal滑模控制  

TERMINAL SLIDING MODE CONTROL OF COORDINATED MOTION OF FREE-FLOATING SPACE ROBOT WITH DUAL-ARMS

作　　者：郭益深[1] 陈力[1] 

机构地区：[1]福州大学机械工程及自动化学院,福州350002

出　　处：《工程力学》2009年第5期221-227,共7页Engineering Mechanics

基　　金：国家自然科学基金项目(10372022;10672040);福建省自然科学基金项目(E0410008)

摘　　要：讨论了载体位置无控、姿态受控情况下,具有外部扰动的漂浮基双臂空间机器人载体姿态与末端爪手协调运动的控制问题。结合系统动量守恒关系及拉格朗日方法,建立了漂浮基双臂空间机器人全控形式的系统动力学方程,并将其转化为系统状态方程。以此为基础,根据Terminal滑模控制技术,给出了系统相关Terminal滑模面的数学表达式,并提出了具有外部扰动情况下漂浮基双臂空间机器人载体姿态与末端爪手协调运动的Terminal滑模控制方案。提出的控制方案不但确保了闭环系统滑模阶段的存在性,同时通过Terminal滑模函数的适当选取,还保证了输出误差在有限时间内的收敛性。此外,由于确保了无论何种情况下系统初始状态均在Terminal滑模面上,从而消除了其它滑模控制方法常有的到达阶段,使得闭环系统具有全局鲁棒和稳定性。一个平面漂浮基双臂空间机器人的系统数值仿真,证实了此控制方案的有效性。The control problem of coordinated motion of a free-floating dual-arm space robot with external disturbance is discussed. Combined the relationship of the linear momentum conversation and Lagrangian approach, the full-controlled dynamic equation of a free-floating space robot with dual-arms is established and then inverted to the state equation for control design. Based on the above results and the terminal sliding mode control （SMC） technique, a mathematical expression of the terminal sliding surface is proposed, and then the terminal SMC scheme of coordinated motion between the base＇s attitude and the end-effectors of the free-floating dual-arm space robot with external disturbance is developed. This proposed control scheme not only guarantees the existence of the sliding phase of the closed-loop system, but also ensures the convergence of the output tracking error in a finite time period. In addition, because the initial state of the system is always at the terminal sliding surface, the control scheme can eliminate the reaching phase of SMC and guarantee the global robustness and stability of the closed-loop system. A planar free-floating space robot with dual-arms is simulated to verify the feasibility of the proposed control scheme.

关 键 词：漂浮基双臂空间机器人 系统动力学方程 Terminal滑模面 协调运动 TERMINAL滑模控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]