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柔性关节空间机器人基于柔性补偿的模糊鲁棒滑模控制及柔性振动主动抑制

谢立敏 陈力

谢立敏, 陈力. 柔性关节空间机器人基于柔性补偿的模糊鲁棒滑模控制及柔性振动主动抑制[J]. 空间科学学报, 2013, 33(6): 683-689. doi: 10.11728/cjss2013.06.683
引用本文: 谢立敏, 陈力. 柔性关节空间机器人基于柔性补偿的模糊鲁棒滑模控制及柔性振动主动抑制[J]. 空间科学学报, 2013, 33(6): 683-689. doi: 10.11728/cjss2013.06.683
Xie Limin, Chen Li. Fuzzy Robust Sliding Mode Control and Flexible Vibration Active Suppression of Flexible-joint Space Robot Based on Flexibility Compensation[J]. Chinese Journal of Space Science, 2013, 33(6): 683-689. doi: 10.11728/cjss2013.06.683
Citation: Xie Limin, Chen Li. Fuzzy Robust Sliding Mode Control and Flexible Vibration Active Suppression of Flexible-joint Space Robot Based on Flexibility Compensation[J]. Chinese Journal of Space Science, 2013, 33(6): 683-689. doi: 10.11728/cjss2013.06.683

柔性关节空间机器人基于柔性补偿的模糊鲁棒滑模控制及柔性振动主动抑制

doi: 10.11728/cjss2013.06.683
基金项目: 国家自然科学基金项目(11372073, 11072061, 10672040)和福建省自然科学基金(2010J01003)共同资助
详细信息
    作者简介:

    谢立敏,E-mail:lucy_min@163.com

  • 中图分类号: V42;TP241

Fuzzy Robust Sliding Mode Control and Flexible Vibration Active Suppression of Flexible-joint Space Robot Based on Flexibility Compensation

  • 摘要: 针对参数不确定的漂浮基柔性关节空间机器人系统,研究了其动力学建模过程、运动控制律设计及柔性振动的主动抑制.利用系统动量、动量矩守恒关系和拉格朗日方程建立了系统的动力学方程.为克服传统奇异摄动法仅适用于关节弱柔性系统这一局限性,设计了柔性补偿项来等效提高空间机器人系统中柔性关节的刚度.在此基础上,利用奇异摄动法将系统分解为相互独立的慢变子系统和快变子系统,并分别进行控制律设计.所设计的慢变子系统模糊鲁棒滑模控制律可补偿系统中的不确定参数,减小柔性关节引起的转角传动误差,实现系统期望运动轨迹的渐近跟踪;快变子系统控制律可主动抑制柔性关节引起的系统柔性振动.仿真实验结果证明了该混合控制律的有效性.

     

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出版历程
  • 收稿日期:  2012-10-24
  • 修回日期:  2013-07-25
  • 刊出日期:  2013-11-15

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