双臂空间机器人预定时间轨迹跟踪控制

doi:10.3969/j.issn.0255-8297.2025.03.013

应用科学学报 ›› 2025, Vol. 43 ›› Issue (3): 530-540.doi: 10.3969/j.issn.0255-8297.2025.03.013

• 控制与系统 • 上一篇

双臂空间机器人预定时间轨迹跟踪控制

洪梦情^1,2, 王群^1,2, 刘家银^1,2

1. 江苏警官学院计算机信息与网络安全系, 江苏南京 210031;
2. 江苏警官学院江苏省电子数据取证分析工程研究中心, 江苏南京 210031

收稿日期:2024-03-04 发布日期:2025-06-23
通信作者: 洪梦情，博士，研究方向为机器人控制、智能控制。E-mail:mqhong@foxmail.com E-mail:mqhong@foxmail.com
基金资助:
国家自然科学基金（No.61973167,No.62202209）；“十四五”江苏省重点学科“网络空间安全”资助项目资助

Predefined-Time Trajectory Tracking Control for Dual-Arm Space Robot

HONG Mengqing^1,2, WANG Qun^1,2, LIU Jiayin^1,2

1. Department of Computer Information and Cyber Security, Jiangsu Police Institute, Nanjing 210031, Jiangsu, China;
2. Jiangsu Electronic Data Forensics and Analysis Engineering Research Center, Jiangsu Police Institute, Nanjing 210031, Jiangsu, China

Received:2024-03-04 Published:2025-06-23

摘要/Abstract

摘要： 针对受到未知外部扰动的自由漂浮双臂空间机器人末端轨迹跟踪问题，提出了一种预定时间非奇异滑模控制方法，使双臂末端可以在预先设定的时间内达到稳定状态。首先，利用拉格朗日法建立双臂空间机器人的动力学模型。其次，基于预定时间稳定理论，设计了一种预定时间非奇异滑模面。所设计的滑模面不仅可以预先设置系统稳定时间，而且有效避免了预定时间控制中的奇异性问题。通过构造Lyapunov函数对闭环控制系统进行稳定性分析。最后，以平面两关节双臂空间机器人为研究对象进行仿真实验，仿真结果验证了所提控制算法的有效性。

关键词: 双臂空间机器人, 末端, 轨迹跟踪, 预定时间控制, 非奇异滑模控制

Abstract: A predefined-time nonsingular sliding mode control method is proposed to address the issue of end-effector trajectory tracking for a free-floating dual-arm space robot subjected to unknown external disturbances, ensuring the end-effectors reach a stable state within predefined time. Firstly, the dynamic model of the dual-arm space robot is established using the Lagrange method. Furthermore, based on the theory of predefined time stability, a predefined-time nonsingular sliding mode surface is designed. The sliding mode surface not only allows for the pre-setting of system stabilization time, but also effectively avoids the singularity issues associated with predefined-time control. The stability of the closed-loop control system has been proven through the Lyapunov function method. Finally, simulation experiments conducted on a planar two-joint dual-arm space robot validate the effectiveness of the proposed control algorithm.

Key words: dual-arm space robot, end-effector, trajectory tracking, predefined-time control, nonsingular sliding mode control

中图分类号:

TP273

洪梦情, 王群, 刘家银. 双臂空间机器人预定时间轨迹跟踪控制[J]. 应用科学学报, 2025, 43(3): 530-540.

HONG Mengqing, WANG Qun, LIU Jiayin. Predefined-Time Trajectory Tracking Control for Dual-Arm Space Robot[J]. Journal of Applied Sciences, 2025, 43(3): 530-540.

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双臂空间机器人预定时间轨迹跟踪控制

Predefined-Time Trajectory Tracking Control for Dual-Arm Space Robot

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