考虑重力影响的空间机械臂轨迹跟踪滑模控制

针对空间机械臂由地面装调到空间应用过程中重力环境发生变化的问题，使用滑模控制器对空间机械臂进行控制，通过将配置特殊的非线性结构-fal函数引入趋近律的设计中，提出一种新的基于趋近律的滑模控制方法，并基于李亚普诺夫理论证明了闭环系统的渐近稳定性。仿真结果表明该方法能够很好地完成不同重力环境下机械臂的轨迹跟踪控制任务，并具有较强的鲁棒性。

Sliding mode control for space manipulator trajectory tracking considering effects of gravity

Considering gravity change from ground alignment under the gravity environment to space applications under the micro-gravity environment, a sliding mode controller(SMC) is proposed to control the space manipulator. An SMC based on the reaching-law is proposed by introducing a nonlinear structure of special configuration fal function. The asymptotic stability of system is guaranteed based on the Lyapunov theory. Simulation results show that by using this strategy, thesystem can complete the trajectory tracking task under the different gravity environment and has strong robustness.