CMGs驱动空间机械臂的自适应终端滑模控制

摘要： 针对V构型控制力矩陀螺（CMGs）驱动的空间机械臂的轨迹跟踪控制问题，研究一种自适应非奇异终端滑模（ANTSM）控制方法.利用基于Kane方程的递推组集算法建立了系统的动力学模型.以跟踪误差为变量，构造非奇异滑动面，以保证跟踪误差在滑动面上有限时间收敛.针对系统质量特性参数与关节处干扰力矩的不确定性，设计自适应控制器用以调节控制增益.该控制方法无需不确定性的上界，且闭环系统具有最终一致有界性.仿真结果表明，该控制器可使系统准确跟踪期望轨迹，并对质量特性参数不确定性和关节干扰力矩具有良好的鲁棒性.

Adaptive Terminal Sliding Mode Control of Space Manipulators Actuated by Control Moment Gyroscopes

Abstract：An adaptive non singular terminal sliding mode (ANTSM) control method is proposed for trajectory tracking control of space manipulators actuated by scissored pair control moment gyroscopes (CMGs). Equations of motion are derived by means of recursive algorithms based on Kane’s equations. The non singular terminal sliding surface with the tracking error as the variable is constructed to ensure that the tracking error converges to zero in finite time on the sliding surface. The adaptive laws are also proposed for the control gain’s adjustment on account of the uncertainties of the system quality characteristic parameters and unknown disturbances. The control method does not need to know the upper bounds of the uncertainties and the closed loop system is uniformly ultimately bounded. Simulation results verify the effectiveness of the proposed controller combined with the accuracy of tracking expected trajectory and the robustness on the inertia parameter uncertainties and disturbance torque of joints.