漂浮基空间机器人的全局鲁棒有限时间轨迹跟踪控制

摘要

针对载体位置、姿态均不受控且存在参数不确定和外部扰动的漂浮基空间机器人系统,提出一种全局鲁棒有限时间轨迹跟踪控制方法.结合系统的动量守恒关系,采用第二类拉格朗日方程建立欠驱动形式的系统动力学方程,借助增广变量法提出漂浮基空间机器人系统的全局鲁棒有限时间轨迹跟踪控制方法.采用相关理论证明了系统的全局有限时间稳定性.数值仿真结果表明,该控制方法具有良好的控制效果.%It presents a global robust finite-time tracking control method for free-floating space robot with unknown parameters and external disturbances.Using the momentum conservation and the Lagrange equation, it builds the dynamic equations of system, designs the global robust finite-time tracking control method with the augmentation approach.The method has fast convergence, high accuracy and strong robustness.Based on relevance theory it analyzes the finite-time stability of system.The numerical simulation results show the good effectiveness of the method in both position control and tracking control.