柔性基、柔性关节空间机械臂的运动混合控制

为解决具有不确定性柔性基、柔性关节空间机械臂的控制问题，提出一种自适应鲁棒终端滑模控制与自适应最优控制相结合的混合控制方案。首先，利用奇异摄动法将系统降阶为慢变子系统及快变子系统；其次，针对慢变系统设计一种由等效控制、鲁棒控制及自适应调节算法组成的轨迹跟踪自适应鲁棒终端滑模控制方案；之后，针对快变系统设计一类基于自适应状态观测的振动最优控制策略。仿真结果表明所提方案在系统刚性、柔性运动控制上的有效性。

Motion Mixed Control for Flexible-base and Flexible-joint Space Manipulators

The control problems of a flexible-base and flexible-joint space manipulator with uncertainties were addressed, and a mixed control scheme was proposed based on adaptive robust terminal sliding mode control and adaptive optimal vibration control. Firstly, the system was reduced to a slow subsystem and a fast subsystem by singular perturbation method. Secondly, a trajectory-tracking adaptive robust terminal sliding mode control scheme, including an equivalent control, a robust control, and an adaptive adjusting algorithm, was presented for the slow subsystems. And then, a vibration optimal control strategy was proposed based on adaptive state observation for the fast subsystems. The simulation results show the validity of the proposed scheme in rigid and flexible motion controls of the system.