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 8 $ {\boldsymbol{q}}\left(0\right)=[0.08,0.08,0.08,0.08,0.08,0.08{]}^{\mathit{{\rm T}}} $时的角度跟踪

Fig.8 Angle tracking when $ {\boldsymbol{q}}\left(0\right)=[0.08, 0.08, 0.08, 0.08, 0.08, 0.08{]}^{{\rm T}} $