基于模糊幂次趋近律的漂浮基空间机器人快速滑模控制

摘要

Aiming at chattering suppression in the process of trajectory tracking control by the space manipulator , it discusses a method of fast sliding mode variable structure control based on the fuzzy exponential reaching law . Using the Lagrange equations of the second kind , it establishes the dynamic model of space manipulator system , designs a fast nonlinear sliding mode surface for improving the traditional sliding mode surface of the mechanical armt.Based on fuzzy control theory , it realizes a fuzzy exponential reaching law , which makes the buffeting sup-pression effect of the mechanical arm obvious , and guarantees the effect of trajectory tracking control of the sys-tem.It proves the stability and convergence of the system in the Lyapunov stability theorem , proves the effective-ness and feasibility of the designed control method from the simulation and experimental results .%针对空间机械臂轨迹跟踪控制过程中的抖振抑制问题，讨论了一种基于模糊幂次趋近律的快速滑模变结构控制方法。首先运用拉格朗日第二类方程，建立了空间机械臂系统的动力学模型。然后对机械臂的传统滑模面进行改进，设计了一种快速非线性滑模面。利用模糊控制理论，设计了一种模糊幂次趋近律，使机械臂抖振抑制的效果明显，同时也保证了系统的轨迹跟踪控制效果。通过Lyapunov稳定性分析定理，验证了系统的稳定性和收敛性。最后用仿真实验结果证明了所设计控制方法的有效性和可行性。