Terminal sliding mode control for coordinated motion of a space rigid manipulator with external dist

• 作 者: 郭益深 陈力
• 机 构: CollegeofMechanicalEngineering
• 出 处: Applied Mathematics and Mechanics(English Edition)
• 发表日期: 2008年5期
• 关键词: 滑动模式控制 自由移动空间 外部扰动 滑动表面 free-floating space rigid manipulator external disturba

<正>The control problem of coordinated motion of a free-floating space rigid manipulator with external disturbance is discussed.By combining linear momentum con- version and the Lagrangian approach,the full-control dynamic equation and the Jacobian r