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Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System
He Y(贺云); Xu ZG(徐志刚); Yang MY(杨明毅); Xu YL(徐永利); Wang JY(王军义)
作者部门装备制造技术研究室
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
会议录名称16th IFAC Conference on Technology, Culture and International Stability TECIS 2015
出版者IFAC
出版地Laxenburg, AUSTRIA
2015
页码117-122
收录类别EI
EI收录号20161802334389
产权排序1
ISSN号2405-8963
关键词Six-dof Air-bearing Platform System Optimal Sliding Mode Pose Control Lunar Orbiter Full-physics Simulation Docking Mechanism
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.

语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20995
专题装备制造技术研究室
通讯作者Yang MY(杨明毅)
作者单位1.Shenyang Institute of Automation, Chinese Academy of Sciences, State Key Laboratory of Robotics, Shenyang, 110179, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式
GB/T 7714
He Y,Xu ZG,Yang MY,et al. Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System[C]. Laxenburg, AUSTRIA:IFAC,2015:117-122.
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