空间机械臂关节轨迹跟踪的自适应反演滑模控制  

Adaptive Backstepping Sliding Mode Control of Joint Motion in Free Floating Space Manipulator System

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：《力学季刊》2009年第3期445-450,共6页Chinese Quarterly of Mechanics

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

摘　　要：讨论了载体位置、姿态均不受控制情况下,具有外部扰动与参数不确定的自由漂浮空间机械臂系统关节空间轨迹跟踪的控制问题。结合系统动量、动量矩守恒关系及拉格朗日方法,建立了自由漂浮空间机械臂的系统动力学方程。针对外部扰动与参数不确定的情况,提出一种自适应反演滑模控制方案。此控制方案无需要求系统动力学方程关于惯性参数呈线性函数关系;同时,它可保证系统具有全局意义下的渐近稳定性。数值仿真结果证实了该控制方案可有效地消除外部扰动与参数不确定对系统的影响,控制空间机械臂系统各关节按关节空间内的期望轨迹进行运动。The control problem of joint motion in a free floating space manipulator with external disturbances and uncertain parameters in joint space was discussed. By combining the relationship of the linear and angular momentum conversation and the Lagrangian approach, the dynamic equation of the free floating space manipulator was established. With external disturbances and uncertain parameters, an adaptive backstepping sliding mode control scheme was developed. The proposed control scheme need not linearly parameterize the dynamic equation of the system. Meanwhile, it can guarantee global asymptotically stability of the system. A planar free floating space manipulator was simulated to verify that the proposed control scheme can eliminate the effect of external disturbances and uncertain parameters on the system and control the space manipulator to complete the desired joint motion in joint space.

关 键 词：自由漂浮空间机械臂 外部扰动 参数不确定 动力学方程 关节运动 自适应反演滑模控制 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]