| 机械系统的快速有限时间跟踪控制及其在航天器交会中的应用（英文） |
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| 引用本文： | 张凯,段广仁. 机械系统的快速有限时间跟踪控制及其在航天器交会中的应用（英文）[J]. 控制理论与应用, 2019, 0(1): 87-95 |
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| 作者姓名： | 张凯 段广仁 |
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| 作者单位： | 哈尔滨工业大学控制理论与制导技术研究中心;哈尔滨工业大学机器人技术与系统国家重点实验室 |
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| 基金项目： | Supported by the Major Program of National Natural Science Foundation of China(61690210,61690212);the National Natural Science Foundation of China(61333003);the Self-Planned Task of State Key Laboratory of Robotics and System(HIT)(SKLRS201716A) |
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| 摘 要： | 针对一类具有匹配干扰的二阶机械系统,本文研究了快速有限时间跟踪控制问题.结合有限时间反步法和非奇异快速终端滑模,本文提出了一种新的快速有限时间控制律,并给出了控制器参数所需满足的充分条件以保证系统的快速有限时间稳定性.进一步地,在一定情形下,所设计的快速有限时间控制律能够退化为经典的反步法、有限时间控制律和非奇异快速终端滑模控制律.最终,将所设计的控制律应用于航天器交会系统,数值仿真结果验证了所提方法的有效性.
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| 关 键 词： | 机械系统 快速有限时间控制 反步法 参考轨迹跟踪 |
Fast finite-time tracking control for the mechanical system and its application to spacecraft rendezvous system |
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| ZHANG Kai,DUAN Guang-ren. Fast finite-time tracking control for the mechanical system and its application to spacecraft rendezvous system[J]. Control Theory & Applications, 2019, 0(1): 87-95 |
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| Authors: | ZHANG Kai DUAN Guang-ren |
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| Affiliation: | (State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin Heilongjiang 150001,China;Center for Control Theory and Guidance Technology,Harbin Institute of Technology,Harbin Heilongjiang 150001,China) |
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| Abstract: | This paper investigates the fast finite-time tracking control problem for a class of second-order mechanical system with matched disturbance.By employing the finite-time backstepping design approach and nonsingular fast terminal sliding mode(NFTSM)concept,a new form of fast finite-time control(FFTC)approach is proposed and the sufficient conditions of the controller parameters are given,which can guarantee the fast finite-time stability(FFTS).Furthermore,the FFTC law can be reduced to the classical backstepping control(BSC)law,finite-time control(FTC)law and NFTSM control(NFTSMC)law in the particular situations,which validates the completeness of the work.The simulation results of the application to spacecraft rendezvous system have demonstrated the effectiveness of the proposed approach. |
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| Keywords: | mechanical system fast finite-time control backstepping design method reference trajectory tracking |
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