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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)
Department装备制造技术研究室
Conference Name16th IFAC Conference on Technology, Culture and International Stability TECIS 2015
Conference DateSeptember 24-27, 2015
Conference PlaceSozopol, Bulgaria
Source Publication16th IFAC Conference on Technology, Culture and International Stability TECIS 2015
PublisherIFAC
Publication PlaceLaxenburg, AUSTRIA
2015
Pages117-122
Indexed ByEI
EI Accession number20161802334389
Contribution Rank1
ISSN2405-8963
KeywordSix-dof Air-bearing Platform System Optimal Sliding Mode Pose Control Lunar Orbiter Full-physics Simulation Docking Mechanism
Abstract

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.

Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20995
Collection智能产线与系统研究室
Corresponding AuthorYang MY(杨明毅)
Affiliation1.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
Recommended Citation
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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