Adaptive Predefined-Time Attitude Stabilization Control of Space Continuum Robot

被引：16

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

页码：647 / 651

页数：5

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