【摘要】 针对空间机器人在性能约束下的轨迹跟踪控制问题，提出一种基于指令滤波反步法的有限时间性能约束鲁棒控制策略.设计一种新型非对称正切型障碍Lyapunov函数，并将其与有限时间控制方法相结合，构建了基于有限时间指令滤波的性能约束控制方案.该方案不仅确保了空间机器人基座姿态角与机械臂关节角始终被限制在非对称预定区间内，而且实现了系统状态在有限时间收敛至期望轨迹.通过应用时变函数边界，进一步优化了系统的瞬态性能.基于汉密尔顿-雅可比不等式(Hamilton-Jacobi inequality,HJI)方法设计鲁棒控制器，有效抑制了外界不确定性扰动对空间机器人的影响.最后，利用Lyapunov稳定性理论证明系统状态变量均为有限时间稳定.对比仿真结果验证了所提控制策略的有效性和优越性.更多还原

【Abstract】 Addressing the trajectory tracking control problem of space robots under performance constraints,a finite-time performance-constrained robust control strategy based on command-filtered backstepping is proposed. Firstly, a novel asymmetric tangent-type barrier Lyapunov function is designed and integrated with finite-time control methods to construct a performance-constrained control scheme based on finite-time command filtering. This scheme not only ensures that the.base attitude angle and joint angles of the space robot are always confined within asymmetric predefined intervals but also guarantees finite-time convergence of the system states to the desired trajectory. Secondly,the transient performance of the system is further improved by applying time-varying function boundaries. Additionally, a robust controller is designed based on the Hamilton-Jacobi Inequality(HJI) method to effectively suppress the influence of external uncertain disturbances on the space robot. Finally,the finite-time stability of the system state variables is proven using Lyapunov stability theory. Comparative simulations validate the effectiveness and superiority of the proposed control strategy.更多还原