漂浮基双臂空间机器人关节运动的模糊变结构滑模控制-福州大学学报.PDF

36 1 ( ) Vo.l 36 No. 1 2008 2 Journal of Fuzhou Un iversity( Natural Science) Fe . 2008 : 1000- 2243( 2008) 01- 0100- 05 , (, 350002) : . , . , . , , ; , , , . . : ; ; ; ; : TP242 : A Fuzzy variable structure sliding- mode control for dual- arm space robot to track desired trajectory in joint space CHEN Zh i- huang, CHEN L i ( College ofM echanical Engineering and Au tom ation, Fuzhou Un iversity, Fuzhou, Fujian 350002, Ch ina) Abstract: A kind of nonlinear dynam icmodel of dual- arm free- floating space ro ot systems is pres- ented ased on Lagrange method. Based on the resu lt, the control pro lem for space man ipu lator to track the desired trajectory in joint workspace is d iscussed. Because of the high structure comp lexity and the parameter uncertainty of spaceman ipu lator system s, the schem e of varia le structure slid ing- mode controlw ith etter ro ustness to uncertainty and d istur ance is proposed. Fuzzy controllers are designed at the ami of chattering reduction and rapid response. The fuzzy controllers can tune the slid- ing control law parameters automatically accord ing to the relationsh ip etw een system state and sw itc- hing manifold. The effect of the controller is testified y computer smi u lation. Keywords: space ro ot; free- floating dual- arm; joint- trajectory tracking; fuzzy varia le; sliding - mode control 90, , [ 1- 6] . , . , . [ 7- 10] , . , , , . , . , . , , ; , : 2006- 12- 25 : ( 1981- ), , ; : , , . : (; (E04 10008)