文章基本信息

标题：Research on Optimal Sliding Mode Pose Control for a Six-DOF Air-Bearing Simulation Platform System
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作者：Yun He ; Zhigang Xu ; Mingyi Yang 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：24
页码：117-122
DOI：10.1016/j.ifacol.2015.12.067
语种：English
出版社：Elsevier
摘要：AbstractAccording 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.
关键词：Keywordssix-DOF air-bearing platform systemoptimal sliding mode pose controllunar orbiterfull-physics simulation docking mechanism.