一种基于模型预测控制的柔性关节空间机械臂的轨迹跟踪控制#br#

柔性关节空间机械臂在太空中的操作问题与几个因素有关，其中最重要的因素之一是关节的弹性振动.为了克服这种弹性振动带来的影响，提出了一种基于模型预测控制方法的双连杆柔性关节空间机械臂对目标跟踪的控制策略.首先，利用欧拉 拉格朗日公式进行动力学建模；然后，提出一种连续线性化模型预测控制方法，并将其应用于非线性柔性关节空间机械臂的模型中；最后，通过数值仿真来验证本文所提出方法的有效性.

A Model Predictive Control Based Trajectory Tracking Controller Design#br# for Space Flexible Joint Manipulators#br#

The operation of space flexible joint space manipulator relates to many factors. One of the key factors is the elastic vibration of the joints. A control strategy is introduced for the trajectory tracking of a two link space flexible joint manipulator. The Euler Lagrange formula is used for modeling the dynamics of the manipulator system. Then, a successive linearization model predictive control scheme is proposed for the tracking control of the space manipulator. Finally, some numerical simulation are carried out to validate the effectiveness of the proposed method.