Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System
文献类型：会议论文
| 作者 | Yang MY(杨明毅) ; Wang JY(王军义); Xu YL(徐永利); Xu ZG(徐志刚); He Y(贺云)
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| 出版日期 | 2015 |
| 会议名称 | 16th IFAC Conference on Technology, Culture and International Stability TECIS 2015 |
| 会议日期 | September 24-27, 2015 |
| 会议地点 | Sozopol, Bulgaria |
| 关键词 | six-DOF air-bearing platform system optimal sliding mode pose control lunar orbiter full-physics simulation docking mechanism |
| 页码 | 117-122 |
| 通讯作者 | Yang MY(杨明毅) |
| 中文摘要 | According to the requirements of the ground experiment table which is designed to simulate the lunar orbiter's docking and the sample transferring processes for the 3rd step of China's Lunar Exploration Program, a 6-DOF air-bearing simulation platform system is designed. We also proposed an optimal pose control method which method combines the sliding mode control with the optimal control theory in this paper. By introducing an integral compensation term, the optimal regulator is robust and the reaching mode of the sliding mode control is eliminated. This control methods could also eliminate the influence that the big load inertia ratio and the uncertain factors of the air-bearing pose control system had on the control precision. The experimental results indicate that the control accuracy of the system meets the task requirements and the correctness and feasibility of this scheme are verified. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | 16th IFAC Conference on Technology, Culture and International Stability TECIS 2015
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| 会议录出版者 | IFAC |
| 会议录出版地 | Laxenburg, AUSTRIA |
| 语种 | 英语 |
| ISSN号 | 2405-8963 |
| 源URL | [http://ir.sia.cn/handle/173321/20995]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 作者单位 | 1.University of Chinese, Academy of Sciences, Beijing, 100049, China 2.Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang, 110179, China |
| 推荐引用方式 GB/T 7714 | Yang MY,Wang JY,Xu YL,et al. Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System[C]. 见:16th IFAC Conference on Technology, Culture and International Stability TECIS 2015. Sozopol, Bulgaria. September 24-27, 2015. |
入库方式： OAI收割
来源：沈阳自动化研究所
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