[1]刘 祺,顾秀涛,毛建恒,等.自由飞行空间机器人高性能轨迹跟踪控制[J].机械与电子,2025,(09):17-25.
　LIU Qi,GU Xiutao,MAO Jianheng,et al.High-performance Trajectory Tracking Control for Free-flying Space Robots[J].Machinery & Electronics,2025,(09):17-25.
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自由飞行空间机器人高性能轨迹跟踪控制
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年09期
页码:
17-25
栏目:
自动控制与检测
出版日期:
2025-09-25

文章信息/Info

Title:
High-performance Trajectory Tracking Control for Free-flying Space Robots
文章编号:
1001-2257 ( 2025 ) 09-0017-09
作者:
刘 祺 1 ; 顾秀涛 2 ; 毛建恒 1 ; 郭 毓 1
1. 南京理工大学自动化学院,江苏 南京 210094 ;2. 江苏海事职业技术学院,江苏 南京 211170
Author(s):
LIU Qi1 ;  GU Xiutao2 ;  MAO Jianheng1 ;  GUO Yu1
( 1.School of Automation , Nanjing University of Science and Technology , Nanjing 210094 , China ;2.Jiangsu Maritime Institute , Nanjing 211170 , China )
关键词:
自由飞行空间机器人; 动力学模型; 改进超螺旋滑模控制; 有限时间扰动观测器
Keywords:
free-flying space robot ;  dynamic model ;  improved super-twisting sliding mode control ;  finite-time disturbance observer
分类号:
TP273 ;TP242
文献标志码:
A
摘要:
以自由飞行空间机器人为研究对象,针对高性能轨迹跟踪控制要求,提出了一种带有有限时间扰动观测器的改进超螺旋滑模控制策略。根据空间机器人的动力学方程,采用有限时间观测器对系统的参数不确定性和外部扰动进行估计并加以补偿。为提高系统鲁棒性、减小抖振并加快收敛速度,设计了一种基于改进超螺旋滑模的空间机器人轨迹跟踪控制器。对比仿真结果表明,所提控制策略可使空间机器人具有较好的轨迹跟踪性能和鲁棒性。
Abstract:
Taking free-flying space robots as the research object , an improved super-twisting sliding mode control strategy with a finite-time disturbance observer is proposed to meet the high-performance trajectory tracking control requirements of space robots.Based on the dynamic equations of the space robot , a finite-time observer is employed to estimate and compensate for system parameter uncertainties and external disturbances.To enhance system robustness , reduce chattering , and accelerate convergence , a trajectory tracking controller based on super-twisting sliding mode is designed for the space robot.Comparative simulation results demonstrate that the proposed control strategy provides excellent trajectory tracking performance and robustness for the space robot.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2025-05-20
基金项目:国家自然科学基金资助项目( 61973167 )
作者简介:刘 祺 ( 2001- ),男,江苏扬州人,硕士研究生,研究方向为机器人控制;郭 毓 ( 1964- ),女,江苏南通人,教授,博士研究生导师,研究方向为航天器姿态控制、智能机器人控制和高精度伺服系统等,通信作者, E-mail : guoyu@njust.edu.cn 。
更新日期/Last Update: 2025-09-29