Advanced Control for Semi-Floating Space Manipulator Considering Multiple Constraints and Disturbances
ISBN:978-7-5024-9777-4
作者:姚其家 李擎(著)
出版时间:2024年4月
图书定价:89元
推荐语
空间机械臂被认为是最有前途的空间活动技术之一。通过代替宇航员在外太空工作,空间操纵臂可以规避舱外活动的风险。空间机械臂是高度非线性、强耦合的,不可避免地受到模型不确定性和外界干扰的影响,这给控制系统的设计带来了很大的挑战。在这种情况下,本书提出了几种考虑多约束和干扰的半漂浮空间机械臂轨迹跟踪的先进控制方法。从控制的角度来看,这些控制方法是新颖的,并通过仿真研究验证了它们的有效性和效益。期望推导结果能为未来的空间机器人任务提供理论指导和技术支持。
内容简介
这本书有13章。首先,建立了半浮式空间机械臂的动力学模型。然后,开发了几种先进的控制方法,包括神经自适应状态反馈控制、神经自适应输出反馈控制、基于有限时间扰动观测器的类pd控制、有限时间自适应积分滑模控制、有限时间神经自适应控制、基于固定时间扰动观测器的类pd控制、固定时间自适应积分滑模控制、固定时间神经自适应控制、以及预定义时间自适应非奇异终端滑模控制。最后,通过仿真研究对主要结果进行了验证和强调。
目录
Chapter 1 Introduction
1.1 Research significance
1.2 Research overview
1.3 Outline of the book
1.4 Summary
Chapter 2 Preliminaries
2.1 Notations
2.2 Definitions and lemmas
2.3 Summary
Chapter 3 System Modeling of Semi-Floating Space Manipulator
3.1 Kinematic modeling of the space manipulator
3.2 Dynamic modeling of the space manipulator
3.3 Control-oriented model of the space manipulator
3.4 Example of a planar two-link space manipulator
3.5 Summary
Chapter 4 Asymptotic Tracking Control for Space Manipulator with Constraints and Disturbances
4.1 Neural adaptive state feedback control for unknown space manipulator with output constraints
4.2 Neural adaptive output feedback control for unknown space manipulator with output constraints
4.3 Summary
Chapter 5 Finite-Time Tracking Control for Space Manipulator with Constraints and Disturbances
5.1 Finite-time disturbance observer-based PD-like control for uncertain space manipulator
5.2 Finite-time adaptive integral sliding mode control for uncertain space manipulator
5.3 Finite-time neural adaptive control for unknown space manipulator with output constraints
5.4 Summary
Chapter 6 Fixed-Time Tracking Control for Space Manipulator with Constraints and Disturbances
6.1 Fixed-time disturbance observer-based PD-like control for uncertain space manipulator
6.2 Fixed-time adaptive integral sliding mode control for uncertain space manipulator
6.3 Fixed-time neural adaptive control for unknown space manipulator with output constraints
6.4 Predefined-time adaptive nonsingular terminal sliding mode control for uncertain space manipulator
6.5 Summary
References
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用途分类专著
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专业分类机电智能