全状态约束下柔性关节自由飞行空间机器人有限时间指令滤波鲁棒跟踪控制  

Finite time command filtering robust tracking control for flexible-joint free-flying space robots under full-state constraints

作　　者：高鼎峰 顾秀涛 郭毓[1] 刘辽雪 Gao Dingfeng;Gu Xiutao;Guo Yu;Liu Liaoxue(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《南京理工大学学报》2024年第5期556-567,共12页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(62403242,61973167);江苏省自然科学基金(BK20241459);江苏省卓越博士后计划(2023ZB186);江苏省研究生科研与实践创新计划(KYCX24_0674)。

摘　　要：针对存在外部扰动、动力学耦合及全状态约束的柔性关节自由飞行空间机器人轨迹跟踪控制问题,基于拉格朗日方法建立了基座位置/姿态受控的柔性关节自由飞行空间机器人动力学模型,提出了一种全状态约束有限时间H∞轨迹跟踪控制方法。在带有滤波误差补偿的指令滤波反步法控制框架下,结合障碍Lyapunov函数和有限时间理论,设计了一种指令滤波有限时间全状态约束控制方法,将系统状态始终限定在约束区间内的同时,保证系统的有限时间收敛性能。此外,采用H∞控制理论抑制外部扰动的影响。通过Lyapunov稳定性定理证明了系统所有状态变量能够在有限时间内收敛至原点的任意小邻域内。仿真验证了所提控制方法的有效性和鲁棒性。Aiming at trajectory tracking control problem of a flexible-joint free-flying space robot with external disturbances,dynamics coupling effect and full-state constraints,on the basis of Lagrange method,a dynamics model of a flexible-joint free-flying space robot with controlled base position/attitude is established,a finite time bounded H∞tracking controller under full-state constraints is proposed.In the framework of command filtering backstepping control with filter error compensation,applying barrier Lyapunov function and the finite time theory,a command filtering finite time full-state constrained control method is designed,and the system states are always restricted to the bounded interval while the finite time convergence performance is ensured.Furthermore,the H∞control theory is used to suppress the influence of external disturbances.It is proved by Lyapunov stability theory that all state variables can converge to any small neighborhood of the origin within a finite time.Simulations verify the effectiveness and robustness of the designed controller.

关 键 词：柔性关节自由飞行空间机器人 指令滤波 全状态约束 有限时间 障碍Lyapunov函数 H∞控制理论 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]