Adaptive Predefined-Time Attitude Stabilization Control of Space Continuum Robot

被引：8
|
作者：
Ding, Meng [1 ]
Wu, Hailei [2 ]
Zheng, Xianjie [1 ]
Guo, Yu [1 ]
机构：
[1] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China
[2] Shanghai Aerosp Control Technol Inst, Shanghai 201108, Peoples R China
来源：
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2024年 / 71卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Attitude stabilization; adaptive control; continuum robot; practical predefined-time stability; TRACKING CONTROL;
D O I：
10.1109/TCSII.2022.3204840
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This brief investigates the predefined-time stabilization attitude control for multi-segment cable-driven space continuum robot system in the presence of external time-varying disturbances. By utilizing the theorem of practical predefined-time stability, an adaptive attitude controller based on a nonsingular terminal sliding mode is developed, so that the attitude error can converge into a small neighborhood of the origin within a predefined time. A suitable Lyapunov function is chosen to prove the stability of the robot system. The numerical simulation results demonstrate the effectiveness and superiority of the proposed control strategy.
引用
收藏
页码：647 / 651
页数：5
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