摘要
针对受到未知外部扰动的自由漂浮双臂空间机器人末端轨迹跟踪问题,提出了一种预定时间非奇异滑模控制方法,使双臂末端可以在预先设定的时间内达到稳定状态。首先,利用拉格朗日法建立双臂空间机器人的动力学模型。其次,基于预定时间稳定理论,设计了一种预定时间非奇异滑模面。所设计的滑模面不仅可以预先设置系统稳定时间,而且有效避免了预定时间控制中的奇异性问题。通过构造Lyapunov函数对闭环控制系统进行稳定性分析。最后,以平面两关节双臂空间机器人为研究对象进行仿真实验,仿真结果验证了所提控制算法的有效性。
A predefined-time nonsingular sliding mode control method is proposed to address the issue of end-effector trajectory tracking for a free-floating dual-arm space robot subjected to unknown external disturbances,ensuring the end-effectors reach a stable state within predefined time.Firstly,the dynamic model of the dual-arm space robot is established using the Lagrange method.Furthermore,based on the theory of predefined time stability,a predefined-time nonsingular sliding mode surface is designed.The sliding mode surface not only allows for the pre-setting of system stabilization time,but also effectively avoids the singularity issues associated with predefined-time control.The stability of the closed-loop control system has been proven through the Lyapunov function method.Finally,simulation experiments conducted on a planar two-joint dual-arm space robot validate the effectiveness of the proposed control algorithm.
作者
洪梦情
王群
刘家银
HONG Mengqing;WANG Qun;LIU Jiayin(Department of Computer Information and Cyber Security,Jiangsu Police Institute,Nanjing 210031,Jiangsu,China;Jiangsu Electronic Data Forensics and Analysis Engineering Research Center,Jiangsu Police Institute,Nanjing 210031,Jiangsu,China)
出处
《应用科学学报》
北大核心
2025年第3期530-540,共11页
Journal of Applied Sciences
基金
国家自然科学基金(No.61973167,No.62202209)
“十四五”江苏省重点学科“网络空间安全”资助项目资助。
关键词
双臂空间机器人
末端
轨迹跟踪
预定时间控制
非奇异滑模控制
dual-arm space robot
end-effector
trajectory tracking
predefined-time control
nonsingular sliding mode control
