The dynamic modeling, finite-time trajectory tracking control and vibration suppression of a flexible two-link space robot are studied. Firstly, the dynamic model of the system is established by combining Lagrange method with assumed mode method. In order to ensure that the base attitude and the joints of space robot can reach the desired positions within a limited time, a non-singular fast terminal sliding mode (NFTSM) controller is designed, which realizes the finite-time convergence of the trajectory tracking errors. Subsequently, for the sake of suppressing the vibrations of flexible links, a hybrid trajectory based on the concept of the virtual control force is developed, which can reflect the flexible modes and the trajectory tracking errors simultaneously. By modifying the original control scheme, a NFTSM hybrid controller is proposed. The hybrid control scheme can not only realized attitude stabilization and trajectory tracking of joints in finite time, but also provide a new method of vibration suppression. The simulation results verify the effectiveness of the designed hybrid control strategy.

研究了柔性两连杆空间机器人的动力学建模，有限时间轨迹跟踪控制和振动抑制。首先，将拉格朗日方法与假设模式方法相结合，建立了系统的动力学模型。为了保证空间机器人的基本姿态和关节在有限的时间内到达期望的位置，设计了一种非奇异的快速终端滑模（NFTSM）控制器，实现了轨迹跟踪的有限时间收敛。错误。随后，为了抑制柔性连杆的振动，开发了一种基于虚拟控制力概念的混合轨迹，该混合轨迹可以同时反映柔性模式和轨迹跟踪误差。通过修改原始控制方案，提出了一种NFTSM混合控制器。该混合控制方案不仅可以在有限的时间内实现关节的姿态稳定和轨迹跟踪，而且还提供了一种新的振动抑制方法。仿真结果验证了所设计的混合控制策略的有效性。