Space robot finite time anti-interference trajectory tracking control method based on performance constraint and actuator saturation

By constructing a finite time anti-issue trajectory tracking control method, combining the new asymmetric fixed time boundary and anti-saturation assistance system, the trajectory tracking problem of flexible joint free-flying space robots under sudden disturbances is solved, and fast and accurate trajectory tracking control is achieved, and the system's transient performance is improved.

CN120439283APending Publication Date: 2025-08-08NANJING UNIV OF SCI & TECH
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Patent Information

Application Number
CN202510547496.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-04-28
Publication Date
2025-08-08

AI Technical Summary

Technical Problem

The prior art is difficult to effectively deal with the problems of burst disturbances and actuator saturation in flexible joint free-flying space robots, resulting in limited trajectory tracking performance and inability to ensure both speed and accuracy.

Method used

A finite time immunity trajectory tracking control method based on performance constraints and actuator saturation is constructed. Through a finite time instruction filter and an anti-saturation assistance system, combined with a new asymmetric fixed time constraint boundary and a finite time adaptive controller, a controller of a flexible joint space robot is designed to achieve fast and accurate trajectory tracking.

Benefits of technology

Under burst disturbance, the effect of actuator saturation and performance constraints on trajectory tracking is effectively suppressed, ensuring the rapid convergence and high-precision trajectory tracking of flexible joint space robots, and improving the transient performance of the system.

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Abstract

The invention discloses a space robot finite time anti-interference trajectory tracking control method based on performance constraint and actuator saturation, and the method comprises the steps: firstly solving a state-space equation of a flexible joint free flight space robot, constructing a system error vector in combination with a finite time instruction filter and an anti-saturation auxiliary system, and carrying out the finite time instruction filter and anti-saturation auxiliary system; a novel asymmetric logarithmic obstacle Lyapunov function with an asymmetric fixed time constraint boundary is constructed; and finally, a novel finite time advanced activation anti-saturation auxiliary system and a finite time adaptive controller with a performance constraint effect are constructed, so that finite time anti-interference trajectory tracking control of the space robot is realized. According to the method, the influence of sudden disturbance is considered in the design of the flexible joint free flight space robot controller for the first time, and under the limitation of the saturation performance constraint of the actuator, the trajectory tracking rapidity and accuracy of the space robot are ensured; and the influence of sudden disturbance in a space robot system on the trajectory tracking transient performance can be effectively inhibited.
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