机械系统的快速有限时间跟踪控制及其在航天器交会中的应用(英文)
Fast finite-time tracking control for the mechanical system and its application to spacecraft rendezvous system
摘要点击 120  全文点击 98  投稿时间:2017-10-31  修订日期:2018-04-18
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DOI编号  10.7641/CTA.2018.70790
  2019,36(1):87-95
中文关键词  机械系统  快速有限时间控制  反步法  参考轨迹跟踪
英文关键词  mechanical system  fast finite-time control  backstepping design method  reference trajectory tracking
基金项目  Supported by the Major Program of National Natural Science Foundation of China (61690210, 61690212), the National Natural Science Foundation of China (61333003) and the Self-Planned Task of State Key Laboratory of Robotics and System (HIT) (SKLRS201716A).
学科分类代码  
作者单位E-mail
张凯 哈尔滨工业大学 zhangkaihit@gmail.com 
段广仁 哈尔滨工业大学 g.r.duan@hit.edu.cn 
中文摘要
      针对一类具有匹配干扰的二阶机械系统, 本文研究了快速有限时间跟踪控制问题. 结合有限时间反步法和非奇 异快速终端滑模, 本文提出了一种新的快速有限时间控制律, 并给出了控制器参数所需满足的充分条件以保证系统的快 速有限时间稳定性. 进一步地, 在一定情形下, 所设计的快速有限时间控制律能够退化为经典的反步法、有限时间控制 律和非奇异快速终端滑模控制律. 最终, 将所设计的控制律应用于航天器交会系统, 数值仿真结果验证了所提方法的有 效性.
英文摘要
      This paper investigates the fast finite-time tracking control problem for a class of second-order mechanical system with matched disturbance. By employing the finite-time backstepping design approach and nonsingular fast terminal sliding mode (NFTSM) concept, a new form of fast finite-time control (FFTC) approach is proposed and the sufficient conditions of the controller parameters are given, which can guarantee the fast finite-time stability (FFTS). Furthermore, the FFTC law can be reduced to the classical backstepping control (BSC) law, finite-time control (FTC) law and NFTSM control (NFTSMC) law in the particular situations, which validates the completeness of the work. The simulation results of the application to spacecraft rendezvous system have demonstrated the effectiveness of the proposed approach.