【摘要】 以自由飞行空间机器人为研究对象，针对高性能轨迹跟踪控制要求，提出了一种带有有限时间扰动观测器的改进超螺旋滑模控制策略。根据空间机器人的动力学方程，采用有限时间观测器对系统的参数不确定性和外部扰动进行估计并加以补偿。为提高系统鲁棒性、减小抖振并加快收敛速度，设计了一种基于改进超螺旋滑模的空间机器人轨迹跟踪控制器。对比仿真结果表明，所提控制策略可使空间机器人具有较好的轨迹跟踪性能和鲁棒性。更多还原

【Abstract】 Taking free-flying space robots as the research object, an improved super-twisting sliding mode control strategy with a finite-time disturbance observer is proposed to meet the high-performance trajectory tracking control requirements of space robots.Based on the dynamic equations of the space robot, a finite-time observer is employed to estimate and compensate for system parameter uncertainties and external disturbances.To enhance system robustness, reduce chattering, and accelerate convergence, a trajectory tracking controller based on super-twisting sliding mode is designed for the space robot.Comparative simulation results demonstrate that the proposed control strategy provides excellent trajectory tracking performance and robustness for the space robot.更多还原