空间机器人机械臂的高阶滑模控制

Proceedings of 5th International Conference on Recent Advances in Space Technologies - RAST2011 Pub Date : 2011-06-09 DOI:10.1109/RAST.2011.5966960

A. Arisoy, M. Bayrakceken, S. Basturk, M. Gokasan, O. Bogosyan

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引用次数: 28

摘要

本文设计了一种高阶滑模控制器(HOSMC)，用于带载荷的单自由度柔性连杆空间机械臂的控制。设计了基于高阶滑模的控制器，利用滑模控制器的鲁棒性，同时通过减少抖振效应来提高精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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High order sliding mode control of a space robot manipulator

In this study, a high-order sliding mode controller (HOSMC) is designed for the control of a one degree-of-freedom (DOF) flexible link space robotic arm with payload. The high-order sliding mode based controller is developed, which exploit the robustness properties of sliding-mode controllers (SMCs), while also increasing accuracy by reducing chattering effects.

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Proceedings of 5th International Conference on Recent Advances in Space Technologies - RAST2011

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