自由漂浮空间机器人轨迹跟踪的模型预测控制

Xin Ning, Yao Fa Wu

科研成果: 期刊稿件文章同行评审

10 引用 (Scopus)

摘要

Aiming at various constraints in the process of tracking control, a model predictive control method is developed for trajectory tracking of FFSR (free-floating space robot). Based on the Lagrange dynamic model of FFSR, the pseudo-linearized extended state space model of the system is established. A model predictive controller is designed based on the Laguerre model when the performance index and various constraints are given, in which a task space sliding-mode variable is introduced to track end position and end velocity at the same time. The numerical simulation for a planar 2DOF FFSR is performed and the results show that the model predictive controller not only realizes effective trajectory tracking but also satisfies various constraints.

投稿的翻译标题Model predictive control for trajectory tracking of free-floating space robot
源语言繁体中文
页(从-至)687-696
页数10
期刊Kongzhi Lilun Yu Yingyong/Control Theory and Applications
36
5
DOI
出版状态已出版 - 1 5月 2019

关键词

  • Augmented state space
  • Free-floating space robot (FFSR)
  • Laguerre model
  • Model predictive control

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