柔性空间机器人预定义时间自适应滑模控制

刘宜成,杨迦凌,唐瑞,程靖

Predefined time adaptive sliding mode control for flexible space robot

Yicheng LIU,Jialing YANG,Rui TANG,Jing CHENG

图 11 关节角度的跟踪误差

Fig.11 Tracking error of joint angle