| 引用本文: | 雷荣华,艾志鹏,付晓东.空间机器人的预设性能固定时间终端滑模控制[J].控制理论与应用,2025,42(7):1453~1460.[点击复制] |
| LEI Rong-hua,AI Zhi-peng,FU Xiao-dong.Fixed-time terminal sliding mode control with prescribed performance for space robot[J].Control Theory & Applications,2025,42(7):1453~1460.[点击复制] |
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| 空间机器人的预设性能固定时间终端滑模控制 |
| Fixed-time terminal sliding mode control with prescribed performance for space robot |
| 摘要点击 4746 全文点击 255 投稿时间：2023-11-25 修订日期：2025-04-24 |
| 查看全文 查看/发表评论 下载PDF阅读器 HTML |
| DOI编号 10.7641/CTA.2024.30763 |
| 2025,42(7):1453-1460 |
| 中文关键词 预设性能 固定时间 空间机器人 模型不确定 终端滑模控制 |
| 英文关键词 prescribed performance fixed time space robot uncertain parameter terminal sliding mode control |
| 基金项目 湘江实验室重大项目(23XJ01009), 教育部人文社科基金项目(24YJCZH127), 湖南省自然科学基金项目(2023JJ40231), 湖南省社会科学基金项 目(23YBQ088), 长沙市社科基金项目(2024CSSKKT08)资助. |
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| 中文摘要 |
| 针对存在不确定参数和外部扰动的刚性空间机器人, 本文设计了一个新型的低抖振预设性能固定时间终
端滑模控制方法. 借助拉格朗日法建立刚性空间机器人的动力学模型, 结合模型不确定项及外部扰动项得到系统
的混合不确定项. 为了保证空间机器人的稳态和瞬态跟踪性能, 根据跟踪误差与固定时间预设性能函数构建了系统
的误差转换函数. 借助误差转换函数, 设计了一个固定时间终端滑模面, 并据此提出一个新型的低抖振预设性能固
定时间终端滑模控制器. 根据Lyapunov稳定性理论, 证明了该控制器可确保空间机器人跟踪误差全局固定时间收
敛, 且收敛时间与系统初始状态无关. 数值仿真结果验证了所提出控制器的有效性和优越性. |
| 英文摘要 |
| A novel low-chattering fixed-time terminal sliding mode control method with prescribed performance is designed for rigid space robot subjected to uncertain parameter and external disturbance. The dynamic model of rigid space
robot is established by using the Lagrangian method, and the mixed uncertainty term of the system is obtained by combining
the model uncertainty term with external disturbance term. In order to ensure the steady-state and transient tracking performance of the space robot, an error transformation function of the system is constructed based on the tracking error and the
fixed-time prescribed performance function. By utilizing the error transformation function, a fixed-time terminal sliding
mode surface is designed, and based on which a new type of low-chattering fixed-time terminal sliding mode controller
with prescribed performance is proposed. According to the Lyapunov stability theory, it has been proven that the proposed
controller can ensure global fixed-time convergence of the tracking error for the space robot, and the convergence time is
independent from the initial state of the system. The numerical simulation results verified the effectiveness and superiority
of the presented controller. |
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