关键词: 空间机械臂, 抗饱和, 非线性比例-积分-微分, 全局渐进稳定

Abstract:

To maintain the global asymptotic stability control for space manipulator in the influence of manipulator actuator input saturation, a new output feedback antisaturation nonlinear proportionintegraldifferential(PID) control law is proposed by using a kind of tangent hyperbolic nonlinear function as the antisaturation function. Based on Lyapunov theory and LaSalle’s invariance principle, the global asymptotic stability of the space manipulator closedloop controller is proved, and the explicit conditions on the regulator gains is concluded. Simulations carried on a planar 2degree of freedom space manipulator demonstrate the effectiveness of the proposed approach.

Key words: space manipulator, antisaturation, nonlinear proportionintegraldifferential, global asymptotic stability