TRAJECTORY PLANNING AND HIERARCHICAL SLIDING-MODE CONTROL OF UNDERACTUATED SPACE ROBOTIC SYSTEM

被引：0

作者：

Zhu, Zhanxia ^{[1
]}

Zhong, Jianfei ^{[1
]}

Ding, Mengzhao ^{[1
]}

Wang, Mingming ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, 127 Youyi West Rd, Xian 710072, Peoples R China

来源：

INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION | 2020年 / 35卷 / 06期

基金：

中国国家自然科学基金;

关键词：

Underactuated space robotic system; trajectory planning; trajectory tracking control; hierarchical sliding-mode control; TRACKING CONTROL;

D O I：

10.2316/J.2020.206-0443

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article addresses the trajectory tracking control problem of the underactuated space robotic system (UASRS), in the case that one or several joint drivers do not work. Firstly, the kinematic and dynamic models of the free-floating UASRS are established. Subsequently, the optimal trajectories are obtained utilizing the sinusoidal polynomial function and the particle swarm optimization algorithm (PSO). Then, a hierarchical control strategy based on sliding mode control is proposed in ideal conditions. Furthermore, this article introduces the backstepping adaptive control strategy to design a hierarchical backstepping adaptive sliding mode controller under external disturbance, which has stability by detailed proof. Finally, the numerical simulations are carried out and the results verify the effectiveness of the proposed control method.

引用

页码：436 / 443

页数：8

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