空间机器人预设性能约束下的鲁棒跟踪控制  

Robust tracking control of space robots with prescribed performance

作　　者：龚凯 贾英民 GONG Kai;JIA Ying-min(School of Automation Science and Electrical Engineering,Beihang University,Beijing 100191,China)

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《控制理论与应用》2024年第7期1246-1254,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(62227810,62133001);国家重点基础研究发展计划项目(973计划:2012CB821200,2012CB821201)资助。

摘　　要：本文针对不确定空间机器人预设性能约束下的鲁棒跟踪控制问题,结合一种具有指定时间收敛性质的预设性能函数,利用双向无约束映射将空间机器人的跟踪问题转化为映射误差的有界性控制问题.进一步,基于降阶方法设计了参考加速度,通过神经网络补偿系统的不确定性,实现了对时变期望轨迹的鲁棒跟踪,保证了映射误差始终有界且跟踪误差满足指定时间收敛的预设性能指标,数值仿真结果验证了所提方法的有效性.This paper investigates the robust tracking control of space robots under prescribed performance constraints.We convert the original tracking problem into the boundedness control of mapping errors via the bidirectional unconstrained mapping approach by incorporating a prescribed performance function with fixed-time convergence property.Furthermore,the reference acceleration is designed based on the reduced-order method,and the uncertainty of the system is compensated by the neural network to achieve robust tracking of the time-varying desired trajectory,ensuring that the mapping error is always bounded and the tracking error meets the prescribed performance indicators of convergence within the specified time.The numerical simulation results verify the effectiveness of the proposed method.

关 键 词：空间应用 不确定系统 预设性能 鲁棒跟踪 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]