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 |
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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 |
卷 | 36 |
期 | 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