漂浮基柔性空间机械臂姿态与关节协调运动的Terminal滑模控制  

TERMINAL SLIDING MODE CONTROL OF COORDINATED MOTION OF FREE-FLOATING FLEXIBLE SPACE MANIPULATOR

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：《动力学与控制学报》2009年第2期158-163,共6页Journal of Dynamics and Control

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

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柔性空间机械臂载体姿态与各关节协调运动的控制问题。基于假想模态法、系统动量守恒关系及拉格朗日方法,建立了漂浮基柔性空间机械臂系统的动力学方程,并将其转化为系统控制状态方程。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,在此基础上提出了具有外部扰动情况下漂浮基柔性空间机械臂载体姿态与各关节协调运动的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。一个平面两杆漂浮基柔性空间机械臂的系统数值仿真,证实了方法的有效性。The control problem of coordinated motion of a free-floating flexible space manipulator with external disturbance was discussed. With the assumed mode method, the relationship of system linear momentum conversation and the Lagrangian approach, the dynamic equation of the free-floating flexible space manipulator was 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 was proposed, and then the terminal SMC scheme of coordinated motion between the base＇ s attitude and the manipulator＇ s joints of the free-floating flexible space manipulator with external disturbance was developed. This proposed control scheme not only guarantees that the sliding phase of the closed-loop system exists, but also ensures that the output tracking error converges to zero in finite time. In addition, because the initial state of 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 flexible space manipulator with two links was simulated to verify the feasibility of the proposed control scheme.

关 键 词：漂浮基柔性空间机械臂 外部扰动 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]