Fast sliding mode control of free-floating space robot based on the fuzzy exponential reaching law
Aiming at chattering suppression in the process of trajectory tracking control by the space manipulator , it discusses a method of fast sliding mode variable structure control based on the fuzzy exponential reaching law . Using the Lagrange equations of the second kind , it establishes the dynamic model of space manipulator system , designs a fast nonlinear sliding mode surface for improving the traditional sliding mode surface of the mechanical armt.Based on fuzzy control theory , it realizes a fuzzy exponential reaching law , which makes the buffeting sup-pression effect of the mechanical arm obvious , and guarantees the effect of trajectory tracking control of the sys-tem.It proves the stability and convergence of the system in the Lyapunov stability theorem , proves the effective-ness and feasibility of the designed control method from the simulation and experimental results .
space manipulatorfuzzy exponential reaching lawnonlinear sliding mode surfacechattering sup-pression
NETL
NSTL
万方数据
维普
