宇航学报

宇航学报 ›› 2019, Vol. 40 ›› Issue (6): 703-710.doi: 10.3873/j.issn.1000-1328.2019.06.011

• 制导、导航、控制与电子 • 上一篇    下一篇

柔性关节空间机械臂的自适应滑模控制

吴昊，毛新涛，刘鹭航，王崑声   

  1. 1. 中国航天系统科学与工程研究院，北京 100037； 2. 北京控制工程研究所，北京 100094;
    3. 北京轩宇空间科技有限公司，北京 100194
  • 收稿日期:2018-09-18 修回日期:2018-11-11 出版日期:2019-06-15 发布日期:2019-06-25

Adaptive Sliding Mode Control for Elastic Joint Space Manipulators

WU Hao, MAO Xin tao, LIU Lu hang, WANG Kun sheng   

  1. 1. China Aerospace Academy of Systems Science and Engineering, Beijing 100037, China; 2. Beijing Institute of Control Engineering, Beijing 100094, China; 3. Beijing Sunwise Space Technology Ltd, Beijing 100194, China
  • Received:2018-09-18 Revised:2018-11-11 Online:2019-06-15 Published:2019-06-25

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摘要：

探究一类时滞柔性关节空间机械臂鲁棒自适应滑模控制问题。针对该种空间机械臂具有强非线性特点，同时考虑系统的未建模动态与扰动以及时滞影响，提出一种新的鲁棒自适应滑模控制器。基于Lyapunov-Krasovskii泛函和线性矩阵不等式等凸优化方法，给出滑动模态的鲁棒渐近稳定条件，并证明系统状态在有限时间内到达滑模面。最后，三组仿真校验表明了所设计的控制器可行。

关键词: 柔性关节空间机械臂, 滑模控制, 时滞, 鲁棒控制, 自适应律

Abstract:

 The time-delay flexible joint space manipulator control problem is studied. A robust adaptive sliding-mode controller is designed to deal with the strong nonlinear characteristics, unmodeled dynamics, disturbance and time-delay of the space manipulators. Via the Lyapunov-Krasovskii functional and some convexification strategies, for example, the linear matrix inequalities and Schur complement, the asymptotic stability conditions for the sliding motion can be acquired. It is shown that the sliding surface can be reached in finite time. Finally, three simulation cases show that the designed controllers are feasible.

Key words: Elastic joint space manipulators, Sliding-mode control, State-delay, Robust control, Adaptive law

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