安全约束下空间机器人的全局固定时间紧急控制

doi:10.16265/j.cnki.issn1003-3033.2025.12.1506

中国安全科学学报 ›› 2025, Vol. 35 ›› Issue (12): 103-110.doi: 10.16265/j.cnki.issn1003-3033.2025.12.1506

安全约束下空间机器人的全局固定时间紧急控制

雷荣华¹(), 侯海良²^,^*(), 付晓东³

¹ 湖南工商大学计算机学院, 湖南长沙 410205
² 湘江实验室, 湖南长沙 410002
³ 清华大学航天航空学院, 北京 100084

收稿日期:2025-08-16 修回日期:2025-10-21 出版日期:2025-12-27
通信作者:
^** 侯海良(1980—),男,湖南岳阳人,博士,教授,主要从事具身智能、应急管理等方面的研究。E-mail: hhlcj1732@126.com。
作者简介:
雷荣华 (1990—),男,湖南郴州人,博士,讲师,主要从事机器人智能控制、无人机应急调度等方面的研究。E-mail: leironh@163.com。
付晓东助理研究员
基金资助:
湘江实验室重大项目(23XJ01009); 教育部人文社科基金资助(24YJCZH127); 湖南省社会科学基金资助(23YBQ088)

Global fixed-time emergency control of space robot under safety constraints

LEI Ronghua¹(), HOU Hailiang²^,^*(), FU Xiaodong³

¹ School of Computer Science, Hunan University of Technology and Business, Changsha Hunan 410205, China
² Xiangjiang Laboratory, Changsha Hunan 410200, China
³ School of Aerospace Engineering, Tsinghua University, Beijing 100084, China

Received:2025-08-16 Revised:2025-10-21 Published:2025-12-27

摘要/Abstract

摘要：

为解决具有时间约束和输出约束的不确定空间机器人(USR)系统安全约束问题,采用一种二阶滑模全局固定时间紧急控制方法,应用动量守恒定理和拉格朗日法建立USR的动力学模型;为实现安全输出目标,引入障碍Lyapunov函数,将系统误差限定在预设范围;在此基础上,估计系统不确定项的上界,并进一步考虑系统时间约束,借助加幂积分技术构造一种二阶滑模全局固定时间紧急控制器(GFEC)。结果表明:本文方法的控制精度均显著优于未考虑输出约束的终端滑模固定时间控制器,其均方根误差(RMSE)分别降低55.71%和56.45%,且能够确保USR系统的输出被严格限制在预设安全边界内,表明所设计控制方法跟踪性能的优越性。

关键词: 安全约束, 不确定空间机器人(USR), 二阶滑模, 固定时间, 紧急控制, 输出约束

Abstract:

In order to solve the safety constraint problem of uncertain space robot (USR) with time constraints and output constraints, a second-order sliding mode global fixed-time emergency control method was adopted. The dynamic model of the uncertain space robot was established by applying the momentum conservation theorem and Lagrangian method. To achieve the safety output goal, an obstacle Lyapunov function was introduced to limit the system error within the preset range. Based on this, the upper bound of the system's uncertain terms was estimated, and the system's time constraints were further considered. By using the power summation integration technique, a second-order sliding mode global fixed-time emergency controller was constructed. The results show that root-mean-square error(RMSE) of the proposed method is 55.71% and 56.45% lower than that of the terminal sliding mode fixed-time controller without output constraints in Case 1 and Case 2 respectively, and it can ensure that the outputs of the USR system are strictly limited within the preset safety boundary, indicating the superiority of the tracking performance of the designed control method.

Key words: safety constraint, uncertain space robot(USR), second-order sliding mode, fixed time, emergency control, output constraint

中图分类号:

X941

雷荣华, 侯海良, 付晓东. 安全约束下空间机器人的全局固定时间紧急控制[J]. 中国安全科学学报, 2025, 35(12): 103-110.

LEI Ronghua, HOU Hailiang, FU Xiaodong. Global fixed-time emergency control of space robot under safety constraints[J]. China Safety Science Journal, 2025, 35(12): 103-110.

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控制方法	RMSE(算例1)	RMSE(算例2)
GFEC	5.047 1×10^-5	1.358 3×10^-4
DNNC	3.825 8×10^-4	3.655 4×10^-4
TSMFTC	1.139 6×10^-4	3.118 6×10^-4

安全约束下空间机器人的全局固定时间紧急控制

Global fixed-time emergency control of space robot under safety constraints

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