基于加幂积分法的空间机器人二阶滑模全局固定时间控制  

Second-order sliding mode global fixed-time control of the space robotbased on the power-addition integral method

作　　者：雷荣华 付晓东 陈力[3] LEI Rong-hua;FU Xiao-dong;CHEN Li(School of Computer Science,Hunan University of Technology and Business,Changsha 410205,China;School of Aerospace Engineering,Tsinghua University,Beijing 100084,China;School of Mechanical Engineering and Automation,Fuzhou University,Fuzhou 350116,China)

机构地区：[1]湖南工商大学计算机学院,长沙410205 [2]清华大学航天航空学院,北京100084 [3]福州大学机械工程及自动化学院,福州350116

出　　处：《控制与决策》2024年第10期3270-3278,共9页Control and Decision

基　　金：国家自然科学基金项目(51741502);湖南省自然科学基金项目(2023JJ40231);湖南省教育厅优青项目(21B0562);湖南省社会科学基金项目(23YBQ088);湘江实验室重大项目(23XJ01009)。

摘　　要：对于自由漂浮的刚性空间机器人,设计一种二阶滑模固定时间轨迹跟踪控制器.利用拉格朗日法建立自由漂浮空间机器人系统的动力学模型,结合加幂积分法与虚拟变量策略为系统设计一种二阶滑模固定时间轨迹跟踪控制器.采用Lyapunov函数法证明所提出控制器可确保空间机器人跟踪误差的全局固定时间收敛,且收敛时间独立于系统初始状态.所提方法可对系统跟踪误差的最小收敛时间上界进行估计,解决传统固定时间控制方法所存在的收敛时间过度估计的问题,并可有效削弱控制力矩的抖振现象.仿真结果与理论分析一致,校验了所提方法的可行性与优越性.A second-order sliding mode fixed-time trajectory tracking controller is designed for the rigid free-floating space robot.The dynamic model of the free-floating space robot system is established by the use of Lagrange method,and a second-order sliding mode fixed-time trajectory tracking controller is designed for the system with the help of the power-addition integral method and the virtual variable strategy.It has been proven through the Lyapunov function method that the controller can ensure the global fixed-time convergence of the system tracking error,and the convergence time is independent of the initial state of the space robot system.The presented method can estimate the upper bound of the minimum convergence time of the system tracking error,which implies that the issue of the overestimation of the convergence time existing in traditional fixed-time control methods has been solved,and it can also effectively weaken the chattering phenomenon of the control torque.The simulation results are in accord with the theoretical analysis,which verifies the feasibility and the superiority of the formulated method.

关 键 词：空间机器人 加幂积分法 虚拟变量 固定时间控制 轨迹跟踪 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]