CAJ | 학술논문

主要研究漂浮基空间机器人对工作空间连续轨迹跟踪控制问题。针对系统动力学模型中非线性项未知，以及参数不确定性和外界扰动无法估计的情况，提出了基于自适应 RBF 网络终端滑模控制方法。该方法结合了非线性滑动流形与径向基函数特性，利用自适应 RBF 网络在线学习系统中的不确定性，使得无需精确的动力学模型亦能保证系统在有限时间内快速稳定。根据 Lyapunov 方法设计的自适应增益保证闭环控制系统具有全局稳定性，并且有效抑制抖振现象。针对6关节空间机器人的轨迹跟踪控制仿真表明，提出的自适应 RBF 网络终端滑模控制方法能够基于不完整动力学模型实现高精度轨迹跟踪，且误差在有限时间内快速收敛，系统抖振也得到了有效抑制。
주요연구표부기공간궤기인대공작공간련속궤적근종공제문제。침대계통동역학모형중비선성항미지，이급삼수불학정성화외계우동무법고계적정황，제출료기우자괄응 RBF 망락종단활모공제방법。해방법결합료비선성활동류형여경향기함수특성，이용자괄응 RBF 망락재선학습계통중적불학정성，사득무수정학적동역학모형역능보증계통재유한시간내쾌속은정。근거 Lyapunov 방법설계적자괄응증익보증폐배공제계통구유전국은정성，병차유효억제두진현상。침대6관절공간궤기인적궤적근종공제방진표명，제출적자괄응 RBF 망락종단활모공제방법능구기우불완정동역학모형실현고정도궤적근종，차오차재유한시간내쾌속수렴，계통두진야득도료유효억제。
Continuous trajectory tracking control in task space of free-floating space robots was investigated.An adaptive RBF based terminal sliding mode control method was proposed for a dynamics model with unknown non-linear terms,parametric uncertainties and unbounded external disturbances.The proposed method combinesthe properties of a nonlinear sliding manifold with that of a radial basis function,where the adaptive RBF network is used to estimate the unknown parts of the system on line,such that rapid convergence of control errors in finite time are guaranteed without the exact dynamics mode of the system.The adaptive updating laws were designed according to Lyapunov approach,which make the closed-loop control system globally stable and eliminate chatte-ring problems.A six-link free-floating space robot was employed to validate the proposed method.The simulation results show that the adaptive RBF based terminal sliding mode control method provides high precision perform-ances without the exact dynamics model.Meanwhile,the chattering problems were eliminated effectively.