Abstract The free-float space manipulator (FFSM) control problem subject to coupling dynamics, uncertainties, and input saturation constraints is investigated in this paper. The screw-based dynamical model is established through the Lagrangian equation and Hamilton’s variational principle such that the posture of the rigid body can be described uniquely and globally. The derived dynamics is then reduced to a decoupled one in the light of the conservation of the momentum. On this basis, a novel anti-windup finite-time sliding-mode control strategy is investigated to guarantee the tracking performance in the joint space of FFSM, where a learning-based adaptive neural network is designed to estimate the uncertainties. The approximation error is inhibited by a tanh-type slow-varying adaptive law which is integrated into an auxiliary system to compensate for input saturation nonlinearities. With the contributions above, the stability of the proposed nonsingular terminal sliding-mode (NTSM) controller is comprehensively proved. Comparative simulations based on a 6-DOF FFSM confirm the validity of the proposed control scheme.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Terminal sliding-mode control for input-constrained free-float space manipulator via learning-based adaptive uncertainty rejection


    Beteiligte:
    Hu, Meiling (Autor:in) / Yang, Xuebo (Autor:in) / Dong, Hanlin (Autor:in)

    Erschienen in:

    Advances in Space Research ; 71 , 9 ; 3696-3711


    Erscheinungsdatum :

    2022-06-18


    Format / Umfang :

    16 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    Nonsingular terminal sliding mode control for free-floating space manipulator with disturbance

    Shao, Xiangyu / Sun, Guanghui / Xue, Cong et al. | Elsevier | 2021


    Adaptive robust nonsingular terminal sliding mode design controller for quadrotor aerial manipulator

    Riache, Samah / Kidouche, Madjid / Rezoug, Amar | BASE | 2019

    Freier Zugriff

    Disturbances rejection based on sliding mode control

    Taimoor, Muhammad / Aijun, Li / Amin, Rooh ul | Emerald Group Publishing | 2019


    Space sliding manipulator

    WEI HUAHAI / PENG GONGMING / TAN WANHU et al. | Europäisches Patentamt | 2023

    Freier Zugriff