ROBUST VARIABLE STRUCTURE CONTROL FOR SPACE MANIPULATOR SYSTEM WITH UNCERTAIN PARAMETERS
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摘要: 本文讨论载体位置与姿态均无控的空间机械臂的控制问题.基于增广静态反馈控制模型,提出当载荷参数存在不确定性时空间机械臂追踪惯性空间期望轨迹的变结构鲁棒控制方法.通过仿真运算,证实了方法的有效性.Abstract: In this paper, the control scheme is discussed for a free-floating space manipulatror,based on the augmented statefeedback control model. The scheme of robust variable structure control is proposed for a free-floating space manipulator,whose load parameters is uncertain, to track the desired trajectory of workspace. It is demonstrated by the simulation that the control scheme is efficient.
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Key words:
- Space menipulator /
- Multibody dynamics /
- Robust variable structure control
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