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| Fixed time trajectory tracking control for dual-arm space robot |
Meng-qing HONG( ),Meng DING,Xiu-tao GU,Yu GUO*() |
| School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China |
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Abstract For the trajectory tracking problem of the dual-arm space robot, a fixed-time nonsingular fast terminal sliding mode control strategy which was independent of the initial states was proposed, considering the convergence time of the tracking error was easily affected by the initial states of the system. Firstly, based on fixed-time stability theory, an improved fixed-time nonsingular fast terminal sliding mode surface was designed, which not only solved the singularity problems in terminal sliding mode control, but also guaranteed fast convergence rate of the tracking error whether it was away from or close to the origin. In order to weaken the chattering phenomenon of the sliding mode control and improve the convergence rate of reaching phase, an improved fixed-time reaching law was proposed. The fixed-time stability of the closed-loop system was proved by Lyapunov theory. The dual-arm space robot was taken as the controlled object for comparative simulation, and the results confirmed the higher control accuracy, faster convergence rate and better robustness of the proposed control strategy.
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Received: 11 March 2022
Published: 30 June 2022
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| Fund: 国家自然科学基金资助项目（61973167,61773211）；江苏省研究生科研与实践创新计划项目(KYCX21_0321) |
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Corresponding Authors:
Yu GUO
E-mail: mqhong@njust.edu.cn;guoyu@njust.edu.cn
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双臂空间机器人的固定时间轨迹跟踪控制
针对双臂空间机器人轨迹跟踪控制问题，考虑系统跟踪误差收敛时间易受初始状态影响，提出与初始状态无关的固定时间非奇异快速终端滑模控制策略. 基于固定时间稳定性理论，设计改进的固定时间非奇异快速终端滑模面. 该滑模面解决了终端滑模控制的奇异问题，使得系统跟踪误差在远离、接近原点时均有较快的收敛速度. 为了削弱滑模控制存在的抖振现象和提高趋近阶段的收敛速度，提出改进的固定时间趋近律，应用李雅普诺夫理论证明闭环系统的固定时间稳定. 以双臂空间机器人为被控对象进行对比仿真，结果表明，所提控制策略具有更高的控制精度、更快的收敛速度和更强的鲁棒性.
关键词：
双臂空间机器人,
轨迹跟踪,
固定时间收敛,
非奇异快速终端滑模,
收敛速度
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