空间机器人预设性能约束下的鲁棒跟踪控制

Robust tracking control of space robots with prescribed performance

中文关键词  空间应用  不确定系统  预设性能  鲁棒跟踪

英文关键词  space applications  uncertain systems  prescribed performance  robust tracking

中文摘要

      本文针对不确定空间机器人预设性能约束下的鲁棒跟踪控制问题, 结合一种具有指定时间收敛性质的预设性能函数, 利用双向无约束映射将空间机器人的跟踪问题转化为映射误差的有界性控制问题. 进一步, 基于降阶方法设计了参考加速度, 通过神经网络补偿系统的不确定性, 实现了对时变期望轨迹的鲁棒跟踪, 保证了映射误差始终有界且跟踪误差满足指定时间收敛的预设性能指标, 数值仿真结果验证了所提方法的有效性.

英文摘要

      This paper investigates the robust tracking control of space robots under prescribed performance constraints. By incorporating a predefined performance function with specified time convergence and a bidirectional unconstrained mapping, we convert the tracking problem of space robots into a boundedness control problem of mapping errors. Furthermore, the reference acceleration is designed based on the reduced-order method, and the uncertainty of the system is compensated by the neural network to achieve robust tracking of the time-varying desired trajectory. The proposed method ensures that the mapping error is always bounded and the tracking error meets the prescribed performance indicators of convergence within the specified time. The numerical simulation results verify the effectiveness of the proposed method. Key words: space applications; uncertain systems; prescribed performance; robust tracking.