Model predictive control for trajectory tracking of free-floating space robot

被引：3
|
作者：
Ning X. [1 ,2 ]
Wu Y.-F. [1 ,2 ]
机构：
[1] School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, Shaanxi
[2] Science and Technology on Aerospace Flight Dynamics Laboratory, Xi'an, 710072, Shaanxi
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 05期
基金：
中国国家自然科学基金;
关键词：
Augmented state space; Free-floating space robot (FFSR); Laguerre model; Model predictive control;
D O I：
10.7641/CTA.2018.80030
中图分类号：
学科分类号：
摘要：
Aiming at various constraints in the process of tracking control, a model predictive control method is developed for trajectory tracking of FFSR (free-floating space robot). Based on the Lagrange dynamic model of FFSR, the pseudo-linearized extended state space model of the system is established. A model predictive controller is designed based on the Laguerre model when the performance index and various constraints are given, in which a task space sliding-mode variable is introduced to track end position and end velocity at the same time. The numerical simulation for a planar 2DOF FFSR is performed and the results show that the model predictive controller not only realizes effective trajectory tracking but also satisfies various constraints. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：687 / 696
页数：9
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