Global Terminal Sliding Mode Robust Control for Trajectory Tracking and Vibration Suppression of Two-Link Flezible Space Manipulator
In this study, based on differential geometry inputoutput linearization method, a new robust control approach using global terminal sliding mode (GTSISl) was developed for trajectory tracking and vibraton suppression of two-link flexible space manipulator, and the nonminimum phase control problem was solved. Firstly, the system outputs including joint angle and flexible-link vibration were redefined and therefore, the manipulator system was decomposed into inputoutput subsystem and zero-dynamics subsystem by input-output linearization. Secondly, in order to make the tracking error of input-output subsystem fast convergence to zero in finite time, a G ISM control strategy was designed, which was able to eliminate significantly the chattering inherent in conventional sliding mode control. Moreover, by analyzing the relationship between the eigenvalues of zero-dynamics and the parameters of controller, the zero-dynamics can be quickly and asymptotically stable at equilibrium point by choosing proper parameters. Consequently, the whole original manipulator system was guaranteed to be asymptotically stable. Finally, the presented numerical simulation results demonstrated the effectiveness and feasibility of the proposed control program.
flezible space manipulator nonminimum phase control input-output linearization global terminal sliding mode control
Chu Ming Jia Qing-xuan Sun Han-xu
School of Automation Beijing University of Posts and Telecommunications Beijing,China
国际会议
上海
英文
1256-1260
2009-11-20（万方平台首次上网日期，不代表论文的发表时间）