In response to the flexibility and high precision requirements of aerospace robotic arms,a disturbance observer-based backstepping control strategy for aerospace robotic arms is proposed to sup-press disturbances such as space environmental torque and internal parameters variation.This strategy can accurately,stably,and smoothly track command signals in different scenarios.Firstly,establish the single joint mathematical model of the flexible joints aerospace robotic arm to the mode under disturb-ance,design a nonlinear disturbance observer for aerospace robotic arm based on mathematical models,and ensure that it can stably estimate interference signals.Then,design a backstepping controller based on the Lyapunov function,compensate the estimated disturbance value by the disturbance observer to the backstepping controller,and generate control quantities to suppress actual disturbance.Finally,use MATLAB/Simulink to build a virtual simulation for verification.The simulation results show that the backstepping controller of a flexible joint aerospace robotic arm based on disturbance observer can effec-tively suppress disturbance,and greatly improve the anti-disturbance performance of flexible joint aero-space robotic arm.
disturbance observerflexible joints aerospace robotic armanti-disturbancebackstepping control
NETL
NSTL
万方数据
