基于自适应滑模扰动观测器的自由飞行柔性关节空间机器人性能约束轨迹跟踪控制

IF 3.7 3区 计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS
Dingfeng Gao, Xiutao Gu, Liaoxue Liu, Yu Guo
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引用次数: 0

摘要

针对不确定外部干扰下自由飞行柔性关节空间机器人(FFSR)具有性能约束和驱动器饱和的轨迹跟踪控制问题。在命令滤波反步法的框架下,提出了一种结合tan-type barrier Lyapunov函数(TBLF)和预期激活抗饱和(AAA)的复合控制器。为了提高弹道跟踪的瞬态性能,提出了一种有限时间规定性能函数(FPPF)。此外,设计了一个自适应滑模干扰观测器(ASMDO)来估计不确定的外部干扰,并采用一种新的基于对数型势垒函数的自适应控制律(LBFACL)来防止增益的连续单调增加,降低增益在区域边界趋于无穷大的风险。仿真结果表明,在所设计的控制方案下,FFSR系统的轨迹跟踪性能收敛速度快,精度高。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Performance constrained trajectory tracking control for free-flying flexible-joint space robots based on adaptive sliding mode disturbance observer
Aiming at the trajectory tracking control with performance constraints and actuator saturation for free-flying flexible-joint space robots (FFSR) under uncertain external disturbance. In the framework of the command filter backstepping method, a composite controller combining tan-type barrier Lyapunov function (TBLF) and anticipatory activation anti-saturation (AAA) is proposed. A finite-time prescribed performance function (FPPF) is developed to improve the transient performances of trajectory tracking. In addition, an adaptive sliding mode disturbance observer (ASMDO) is designed to estimate the uncertain external disturbance, with a novel log-type barrier function based adaptive control law (LBFACL) to prevent successive monotonic increases in gain and mitigate the risk of gain tending to infinity at the regional boundary. The simulation results show that the trajectory tracking performance of FFSR system under the designed control scheme has fast convergence speed and high accuracy.
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来源期刊
CiteScore
7.30
自引率
14.60%
发文量
586
审稿时长
6.9 months
期刊介绍: The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.
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