柔性关节空间机械臂的自适应滑模控制

探究一类时滞柔性关节空间机械臂鲁棒自适应滑模控制问题。针对该种空间机械臂具有强非线性特点，同时考虑系统的未建模动态与扰动以及时滞影响，提出一种新的鲁棒自适应滑模控制器。基于Lyapunov-Krasovskii泛函和线性矩阵不等式等凸优化方法，给出滑动模态的鲁棒渐近稳定条件，并证明系统状态在有限时间内到达滑模面。最后，三组仿真校验表明了所设计的控制器可行。

Adaptive Sliding Mode Control for Elastic Joint Space Manipulators

 The time-delay flexible joint space manipulator control problem is studied. A robust adaptive sliding-mode controller is designed to deal with the strong nonlinear characteristics, unmodeled dynamics, disturbance and time-delay of the space manipulators. Via the Lyapunov-Krasovskii functional and some convexification strategies, for example, the linear matrix inequalities and Schur complement, the asymptotic stability conditions for the sliding motion can be acquired. It is shown that the sliding surface can be reached in finite time. Finally, three simulation cases show that the designed controllers are feasible.