Advanced Control for Semi-Floating Space Manipulator Considering Multiple Constraints and Disturbances

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