具有外部扰动的空间刚性机械臂姿态与末端爪手协调运动的Terminal滑模控制算法设计

讨论了载体位置无控、姿态受控情况下，具有外部扰动的漂浮基空间刚性机械臂，载体姿态与末端爪手协调运动的控制算法设计问题．结合系统动量守恒关系及Lagrange方法，建立了漂浮基空间刚性机械臂完全能控形式的系统动力学方程及运动Jacobi关系，并将其转化为状态空间形式的系统控制方程．以此为基础，根据Terminal滑模控制技术，给出了系统相关Terminal滑模面的数学表达式，在此基础上提出了具有外部扰动情况下漂浮基空间刚性机械臂载体姿态与末端爪手协调运动的Terminal滑模控制方案．提出的控制方案不但确保了闭环系统滑模阶段的存在性，同时通过Terminal滑模函数的适当选取，还保证了输出误差在有限时间内的收敛性．此外，由于确保了无论何种情况下系统初始状态均在Terminal滑模面上，从而消除了其它滑模控制方法常有的到达阶段，使得闭环系统具有全局鲁棒性和稳定性．平面两杆空间刚性机械臂的系统数值仿真，证实了方法的有效性．

Terminal Sliding Mode Control for Coordinated Motion of Space Rigid Manipulator With External Disturbance

The control problem of coordinated motion of free-floating space rigid manipulator with external disturbance is discussed.With the relationship of the linear momentum conversation and the Lagrangian approach,the full-controlled dynamic equation and the Jacobian relation of free-floating space rigid manipulator were established and then inverted to the state equation for control design. Based on the terminal sliding mode control(SMC)technique,a mathematical expression of the terminal sliding surface was proposed,and then the terminal SMC scheme was developed for coordinated motion between the base's attitude and the end-effector of free-floating space manipulator with external disturbance.This proposed control scheme not only guarantees that the sliding phase of the closed-loop system exists,but also ensures that the output tracking error converges to zero in finite time.In addition,since the initial state of system is always at the terminal sliding surface,the control scheme can eliminate the reaching phase of the SMC and guarantee the global robustness and stability of the closed-loop system.A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.