具有外部扰动的空间刚性机械臂姿态与末端爪手协调运动的Terminal滑模控制算法设计

郭益深; 陈力

具有外部扰动的空间刚性机械臂姿态与末端爪手协调运动的Terminal滑模控制算法设计

郭益深,
陈力

福州大学机械工程及自动化学院, 福州 350002

基金项目: 国家自然科学基金资助项目(10372022;10672040);福建省自然科学基金资助项目(E0410008)

详细信息

作者简介:
郭益深(1978- ),男,福建人,博士研究生(联系人.E-mail:gysguoyishen@sina.com).

中图分类号: TP241
计量
- 文章访问数: 2815
- HTML全文浏览量: 166
- PDF下载量: 626
- 被引次数: 0
出版历程
- 收稿日期: 2008-01-02
- 修回日期: 2008-03-18
- 刊出日期: 2008-05-15

Terminal Sliding Mode Control for Coordinated Motion of Space Rigid Manipulator With External Disturbance

College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, P. R. China

摘要

摘要: 讨论了载体位置无控、姿态受控情况下，具有外部扰动的漂浮基空间刚性机械臂，载体姿态与末端爪手协调运动的控制算法设计问题．结合系统动量守恒关系及Lagrange方法，建立了漂浮基空间刚性机械臂完全能控形式的系统动力学方程及运动Jacobi关系，并将其转化为状态空间形式的系统控制方程．以此为基础，根据Terminal滑模控制技术，给出了系统相关Terminal滑模面的数学表达式，在此基础上提出了具有外部扰动情况下漂浮基空间刚性机械臂载体姿态与末端爪手协调运动的Terminal滑模控制方案．提出的控制方案不但确保了闭环系统滑模阶段的存在性，同时通过Terminal滑模函数的适当选取，还保证了输出误差在有限时间内的收敛性．此外，由于确保了无论何种情况下系统初始状态均在Terminal滑模面上，从而消除了其它滑模控制方法常有的到达阶段，使得闭环系统具有全局鲁棒性和稳定性．平面两杆空间刚性机械臂的系统数值仿真，证实了方法的有效性．
- 漂浮基空间刚性机械臂 /
- 外部扰动 /
- Terminal滑模面 /
- 协调运动 /
- Terminal滑模控制
Abstract: The control problem of coordinated motion of free-floating space rigid manipulator with external disturbance is discussed.With the relationship of the linear momentum conversation and the Lagrangian approach,the full-controlled dynamic equation and the Jacobian relation of free-floating space rigid manipulator were established and then inverted to the state equation for control design. Based on the terminal sliding mode control(SMC)technique,a mathematical expression of the terminal sliding surface was proposed,and then the terminal SMC scheme was developed for coordinated motion between the base's attitude and the end-effector of free-floating space manipulator with external disturbance.This proposed control scheme not only guarantees that the sliding phase of the closed-loop system exists,but also ensures that the output tracking error converges to zero in finite time.In addition,since the initial state of system is always at the terminal sliding surface,the control scheme can eliminate the reaching phase of the SMC and guarantee the global robustness and stability of the closed-loop system.A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.
- free-floating space rigid manipulator /
- external disturbance /
- terminal sliding surface /
- coordinated motion /
- terminal sliding mode control

HTML全文

参考文献(18)

[1]	Parlaktuna O, Ozkan M. Adaptive control of free-floating space manipulators using dynamically equivalent manipulator model[J].Robotics and Autonomous Systems,2004,46(3):185-193. doi: 10.1016/j.robot.2003.11.007
[2]	Dubowsky S, Papadopoulos E. The kinematics, dynamics, and control of free-flying and free-floating space robotic systems[J].IEEE Transactions on Robotics and Automation,1993,9(5):531-543. doi: 10.1109/70.258046
[3]	Papadopoulos E, Dudowsky S. On the nature of control algorithms for free-floating space manipulators[J].IEEE Transactions on Robotics and Automation,1991,7(6):750-758. doi: 10.1109/70.105384
[4]	Abiko S, Hirzinger G. An adaptive control for free-floating space robot by using inverted chain approach[A].In:Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].San Diego, CA, USA:IEEE Press, 2007, 2236-2241.
[5]	Papadopoulos E, Tortopidis I, Nanos K. Smooth planning for free-floating space robots using polynomials[A].In:Proceedings of the 2005 IEEE International Conference on Robotics and Automation[C].Barcelona, Spain:IEEE Press, 2005, 4272-4277.
[6]	FENG Bao-min, MA Guang-cheng, WEN Qi-yong,et al.Adaptive robust control of space robot in task space[A].In:Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation[C].Luoyang,Henan,P R China:IEEE Press, 2006, 1571-1576.
[7]	CHU Zhong-yi, SUN Fu-chun. Disturbance-observer-based motion control of free-floating space robot[A].In:IMACS Multiconference on “Computational Engineering in Systems Applications”(CESA)[C].Beijing,:Henan,P R China:IEEE Press, 2006, 733-738.
[8]	刘延柱.航天器姿态动力学：:IEEE Press[M].北京: 国防工业出版社,1995.
[9]	李俊峰,王照林.带空间机械臂的充液航天器姿态动力学研究[J].宇航学报,1999,20(2):81-86.
[10]	戈新生,孙鹏伟.自由漂浮空间机械臂非完整运动规划的粒子群优化算法[J].机械工程学报，2007,43(4):34-38.
[11]	CHEN Li, LIU Yan-zhu. The robust control scheme for free-floating space manipulator to track the desired trajectory in jointspace[J].Acta Mechanica Solida Sinica(English Edition),2001,14(2):183-188.
[12]	陈力.带滑移铰空间机器人惯性空间轨迹跟踪的鲁棒混合自适应控制方案[J].工程力学,2004,21(3):174-179.
[13]	GUO Yi-shen, CHEN Li. Robust control of dual-arm space robot systems with two objects in inertial space[A].In:Proceedings of 2006 IEEE International Conference on Systems, Man and Cybernetics,Taibei, Taiwan,China:IEEE Press,2006,6,4552-4556.
[14]	郭益深, 陈力.滑移铰空间机器人基于分级Lyapunov方法的避障碍非完整运动规划[J].空间科学学报,2005,25(2):154-160.
[15]	Feng Y, Yu X H, Man Z H. Non-singular terminal sliding mode control of rigid manipulators[J].Automatica,2002,38(12):2159-2167. doi: 10.1016/S0005-1098(02)00147-4
[16]	Yu X H, Man Z H.Model reference adaptive control systems with terminal sliding modes[J].International Journal of Control,1996,64(6):1165-1176. doi: 10.1080/00207179608921680
[17]	胡剑波, 时满宏, 庄开宇, 等.一类非线性系统的Terminal滑模控制[J].控制理论与应用,2005,22(3):495-498.
[18]	刘金琨. 滑模变结构控制MATLAB仿真[M].北京：清华大学出版社,2005.