多约束和扰动的半浮式空间机械臂高级控制=Advanced Control for Semi-Floating Space Manipulator Considering Multiple Constraints and Disturbances:英文/姚其家,李擎著

定价：89.00元

出版时间：2024.4

ISBN 978-7-5024-9777-4

9787502497774

Contents

Chapter 1  Introduction

1.1  Research significance

1.2  Research overview

1.3  Outline of the book

1.4  Summary

Chapter 2  Preliminaries

2.1  Notations

2.2  Definitions and lemmas

2.2.1  Definitions and lemmas relevant to the finite-time stability

2.2.2  Definitions and lemmas relevant to the fixed-time stability

2.2.3  Lemmas relevant to the predefined-time stability

2.2.4  Lemmas relevant to the NN approximation

2.2.5  Lemmas relevant to the inequalities

2.3  Summary

Chapter 3  System Modeling of Semi-Floating Space Manipulator

3.1  Kinematic modeling of the space manipulator

3.2  Dynamic modeling of the space manipulator

3.3  Control-oriented model of the space manipulator

3.4  Example of a planar two-link space manipulator

3.5  Summary

Chapter 4  Asymptotic Tracking Control for Space Manipulator with Constraints and Disturbances

4.1  Neural adaptive state feedback control for unknown space manipulator with output constraints

4.1.1  Design of the neural adaptive state feedback controller

4.1.2  Stability analysis

4.1.3  Simulation results

4.2  Neural adaptive output feedback control for unknown space manipulator with output constraints

4.2.1  Design of the neural adaptive velocity observer

4.2.2  Design of the neural adaptive output feedback controller

4.2.3  Simulation results

4.3  Summary

Chapter 5  Finite-Time Tracking Control for Space Manipulator with Constraints and Disturbances

5.1  Finite-time disturbance observer-based PD-like control for uncertain space manipulator

5.1.1  Design of the finite-time PD-like controller in the absence of lumped disturbance

5.1.2  Design of the robust finite-time PD-like controller in the presence of lumped disturbance

5.1.3  Simulation results

5.2  Finite-time adaptive integral sliding mode control for uncertain space manipulator

5.2.1  Design of the finite-time integral sliding mode surface

5.2.2  Design of the finite-time adaptive integral sliding mode controller

5.2.3  Simulation results

5.3  Finite-time neural adaptive control for unknown space manipulator with output constraints

5.3.1  Design of the finite-time neural adaptive controller

5.3.2  Stability analysis

5.3.3  Simulation results

5.4  Summary

Chapter 6  Fixed-Time Tracking Control for Space Manipulator with Constraints and Disturbances

6.1  Fixed-time disturbance observer-based PD-like control for uncertain space manipulator

6.1.1  Design of the fixed-time PD-like controller in the absence of lumped disturbance

6.1.2  Design of the robust fixed-time PD-like controller in the presence of lumped disturbance

6.1.3  Simulation results

6.2  Fixed-time adaptive integral sliding mode control for uncertain space manipulator

6.2.1  Design of the fixed-time integral sliding mode surface

6.2.2  Design of the fixed-time adaptive integral sliding mode controller

6.2.3  Simulation results

6.3  Fixed-time neural adaptive control for unknown space manipulator with output constraints

6.3.1  Design of the fixed-time neural adaptive controller

6.3.2  Stability analysis

6.3.3  Simulation results

6.4  Predefined-time adaptive nonsingular terminal sliding mode control for uncertain space manipulator

6.4.1  Design of the predefined-time terminal sliding mode surface

6.4.2  Design of the predefined-time adaptive nonsingular terminal sliding mode controller

6.4.3  Simulation results

6.5  Summary

References