Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System

摘要

According to the requirements of the ground experiment table which is designed to simulate the lunar orbiter's docking and the sample transferring processes for the 3rd step of China's Lunar Exploration Program, a 6-DOF air-bearing simulation platform system is designed. We also proposed an optimal pose control method which method combines the sliding mode control with the optimal control theory in this paper. By introducing an integral compensation term, the optimal regulator is robust and the reaching mode of the sliding mode control is eliminated. This control methods could also eliminate the influence that the big load inertia ratio and the uncertain factors of the air-bearing pose control system had on the control precision. The experimental results indicate that the control accuracy of the system meets the task requirements and the correctness and feasibility of this scheme are verified.