Robust Control Based on Dynamic Sliding Observer of Coordinated Motion of Free-Flying Space Manipulator
High-precision measurements of joint displacements are available on space robot manipulators.In contrast, velocity measurements obtained through tachometers are, in many cases, contaminated by noise.It is therefore economically and technically interesting to investigate the possibility of controlling space robot dynamics by only using angular position measurements.In this paper, the robust control based on a dynamic sliding observer is designed for free-flying space manipulator with unknown payload parameters and bounded disturbances, which requires only angular position measurements.The controller consists of two parts: a dynamic sliding observer part that generates a pesudo-velocity signal and a robust feedback part that utilizes this estimated state.A dynamic compensation term is introduced in the sliding mode observer.Uniform ultimate boundedness for the tracking and observation errors are guaranteed.The numerical simulation is carried out, which confirms the controller proposed is feasible and effective.
Yu xiaoyan Chen li
College of Mechanical Engineering andAutomationFuzhou UniversityFuzhou,Fujian,350108,China College of Mechanical Engineering and Automation Fuzhou University Fuzhou,Fujian,350108,China
国际会议
上海
英文
1-6
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）