自由漂浮空间机器人轨迹跟踪的模型预测控制

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.