基于自适应时延估计的空间机械臂连续非奇异终端滑模控制

doi:10.3901/JME.2021.11.177

机械工程学报 ›› 2021, Vol. 57 ›› Issue (11): 177-183.doi: 10.3901/JME.2021.11.177

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基于自适应时延估计的空间机械臂连续非奇异终端滑模控制

张建宇¹, 高天宇¹, 于潇雁^1,2, 陈力¹

1. 福州大学机械工程及自动化学院福州 350116;
2. 流体动力与电液智能控制福建省高校重点实验室(福州大学) 福州 350116

收稿日期:2020-05-15 修回日期:2020-12-10 出版日期:2021-06-05 发布日期:2021-07-23
通讯作者: 于潇雁(通信作者),女,1974年出生,博士,教授。主要研究方向为机器人机械学、空间机器人系统动力学与非线性控制。E-mail:cool@fzu.edu.cn
作者简介:张建宇,男,1994年出生。主要研究方向为空间机器人系统动力学与控制。E-mail:zjyybfq@163.com
基金资助:
国家自然科学基金（51741502，11372073）和福建省自然科学基金（2016J01228）资助项目。

Continuous Non-singular Terminal Sliding Mode Control of Space Robot Based on Adaptive Time Delay Estimation

ZHANG Jianyu¹, GAO Tianyu¹, YU Xiaoyan^1,2, CHEN Li¹

1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116;
2. Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control (Fuzhou University), Fuzhou 350116

Received:2020-05-15 Revised:2020-12-10 Online:2021-06-05 Published:2021-07-23

摘要/Abstract

摘要： 针对载体位姿不受控的漂浮基刚性空间机器人系统，提出了一种基于自适应时延估计的连续非奇异终端滑模控制方法。首先针对传统时延估计技术在不同情况下一直使用一固定的动力学方程惯性矩阵估计值，导致系统控制效果退化的问题，利用自适应时延估计方法根据系统状态对该估计值进行调整，引入改进的连续非奇异快速终端滑模补偿自适应时延估计技术带来的误差，保证了滑模面的连续性与系统的非奇异性，同时提高了系统在接近滑模面时收敛速度，提高了系统控制精度。然后选取合适的李雅普诺夫函数进行稳定性分析，证明了控制方法的稳定性。最后用Matlab进行仿真验证，验证了该控制方案的有效性。

关键词: 漂浮基空间机器人, 自适应时延估计, 连续非奇异终端滑模, 轨迹跟踪

Abstract: A continuous non-singular terminal sliding mode control based on adaptive time delay estimation of free-floating space robot is presented. First, to overcome degradation caused by traditional time delay estimation which has used a fixed inertial matrix, the adaptive time delay estimation is introduced to adjust the estimation value. An improved continuous non-singular fast terminal sliding mode control is proposed which guarantees the continuity of the sliding mode surface and the non-singularity of the system. At the same time, this controller improves the convergence speed of the system when the system state approaches the sliding mode surface whilst it improves the control accuracy of the system. Then a suitable Lyapunov function is selected for analysis to prove the stability of the control methods. Finally, simulation is performed with matlab to verify the effectiveness of the control scheme.

Key words: free-floating space robots, adaptive delay estimation, continuous nonsingular terminal sliding mode, trajectory tracking

中图分类号:

TP241

张建宇, 高天宇, 于潇雁, 陈力. 基于自适应时延估计的空间机械臂连续非奇异终端滑模控制[J]. 机械工程学报, 2021, 57(11): 177-183.

ZHANG Jianyu, GAO Tianyu, YU Xiaoyan, CHEN Li. Continuous Non-singular Terminal Sliding Mode Control of Space Robot Based on Adaptive Time Delay Estimation[J]. Journal of Mechanical Engineering, 2021, 57(11): 177-183.

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基于自适应时延估计的空间机械臂连续非奇异终端滑模控制

Continuous Non-singular Terminal Sliding Mode Control of Space Robot Based on Adaptive Time Delay Estimation

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