| 漂浮基姿态受控空间机器人关节运动的自适应模糊滑模控制 |
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| 引用本文： | 张燕红.漂浮基姿态受控空间机器人关节运动的自适应模糊滑模控制[J].机械工程师,2009(2):86-88. |
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| 作者姓名： | 张燕红 |
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| 作者单位： | 集美大学,工程技术学院,福建,厦门,361021 |
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| 摘 要： | 重点研究了载体位置无控、姿态受控情况下，空间机器人姿态、关节协调运动的自适应模糊滑模控制问题。由拉格朗丑第二类方法及系统动量守恒关系，建立了漂浮基空间机器人的系统动力学方程。以此为基础，针对空间机器人所有惯性参数均未知的情况，设计了空间机器人载体姿态与机械臂各关节协调运动的自适应模糊滑模控制方案。数值仿真的结果，证实了该控制方案的有效性。
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| 关 键 词： | 漂浮基空间机器人 系统动力学方程 协调运动 自适应模糊滑模控制 |
Adaptive Fuzzy Sliding-mode Control of Free-Floating Space Robot with an Attitude Controlled Base |
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| ZHANG Yan-hong.Adaptive Fuzzy Sliding-mode Control of Free-Floating Space Robot with an Attitude Controlled Base[J].Mechanical Engineer,2009(2):86-88. |
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| Authors: | ZHANG Yan-hong |
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| Affiliation: | College of Engineering Technology;Jimei University;Xiamen 361021;China |
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| Abstract: | The adaptive fuzzy sliding-mode control problem of coordinated motion of a free-floating space robot with an attitude controlled base is discussed. Based on the Lagrangian formulation and the relationship of the system linear momentum conversation, the dynamic equation of a free -floating space robot is derived. With all unknown inertial parameters of the space robot, the adaptive fuzzy sliding -mode control scheme of coordinated motion between the base's attitude and the manipulator's joints of the free-fl... |
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| Keywords: | free-floating space robot dynamic equation of system coordinated motion adaptive fuzzy sliding-mode control |
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