Adaptive Sliding Mode Disturbance Observer-Based Composite Control With Prescribed Performance of Space Manipulators for Target Capturing
Adaptive Sliding Mode Disturbance Observer-Based Composite Control With Prescribed Performance of Space Manipulators for Target Capturing
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DOI：
10.1109/tie.2018.2838065
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发表时间：
2019-03
影响因子：
7.7
通讯作者：
Yukai Zhu;Jianzhong Qiao;Lei Guo
中科院分区：
文献类型：
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作者：
Yukai Zhu;Jianzhong Qiao;Lei Guo
在空间目标捕获任务中，对空间机械臂的控制性能，特别是对基础航天器姿态控制系统的稳定性和精度要求越来越高。然而，由参数变化引起的系统不确定性会严重降低系统的性能。研究了自由飞行空间机械臂捕获质量不确定空间目标后的精确快速轨迹跟踪控制问题。针对系统动态特性复杂、不确定的特点，提出了一种自适应滑模扰动观测器（ASMDO）。然后，具有规定的瞬态和稳态性能的复合控制器的开发。证明了在系统不确定性导数界未知的情况下，ASMDO的估计误差可以在有限时间内稳定。同时，轨迹跟踪误差也可以在有限时间内稳定，并具有预先设定的最大超调量和稳态误差。最后，数值模拟和实验研究，以证明所提出的方法的有效性。
The requirements for the control performances of space manipulators, especially for the stability and accuracy of the attitude control systems of the base spacecrafts, are ever increasing during the space target capturing tasks. However, the system uncertainties caused by parameter variations will degrade the system performances severely. This paper investigates the precise and fast trajectory tracking control problem for the free-flying space manipulator, after capturing a space target with uncertain mass. To compensate the system uncertainty with complex and uncertain dynamics, a novel adaptive sliding mode disturbance observer (ASMDO) is proposed. Then, a composite controller with prescribed transient and steady-state performances is developed. It is proved that the estimation error of ASMDO can be stabilized in finite-time, though the bound of the derivative of system uncertainty is unknown. Meanwhile, the trajectory tracking error can also be stabilized in finite-time and has preassigned maximum overshoot and steady-state error. Finally, numerical simulations and experimental studies are presented to demonstrate the effectiveness of proposed methods.