输入有界自由漂浮柔性空间机器人轨迹跟踪控制_翟艳霞.pdfVIP

29 3 Vol. 29 No. 3 2012 3 Control Theory Applications Mar. 2012 :2012 0座机电话号码 , , , , 150001 : , . , , ; , , . , ; , Lyapunov . . : ; ; ; ; : TP202 : A Trajectory-tracking control for free-?oating ?exible space robots with bounded inputs ZHAI Yan-xia, HU Qing-lei, XU Liang, HUO Xing Department of Control Science and Engineering, Harbin Institute of Technology, Harbin Heilongjiang 150001, China Abstract: This paper is concerned with the trajectory-tracking of free-?oating ?exible space robots. By means of La- grange’s equations and the mode-assumption method, the dynamical equations of the space robot are derived and analyzed. These equations are transformed into a fully controllable form with the ?exible vibration disturbance based on the char- acteristics of the underactuated dynamical control and the ?exible vibration. In considering the physical limitations of the actuator, we develop a robust control approach with adaptive state feedback to reduce the uncertain dynamic disturbance. A complete analysis on the stability and the performance are performed by using Lyapunov theory. Simulation results of the application to a two-link free-?oating ?exible space robot show the feasibility of the proposed controller. Key words: ?exible space manipulator; free-?oating; trajectory-tracking; bounded inputs; adaptive control 1 Introduction , . , , . [12] [1–6] MIMO . , ; . [13], , , . [14] , . . , .