Abstract In this paper, a fractional neural integral sliding-mode controller based on the Caputo-Fabrizio derivative and Riemann–Liouville integral for a robot manipulator mounted on a free-floating satellite is proposed and developed. The mathematical model is obtained by using the Euler–Lagrange formalism and generalized through the Caputo-Fabrizio derivative. The conventional neural integral sliding-mode controller reported in the literature were also developed to make a comparative analysis between both controllers. The controllers are tuned using a swarm intelligence algorithm. External disturbances are also considered. Simulation results show the superiority and robustness of the proposed control system for trajectory tracking tasks through the root-mean-square error. Additionally, two additional reference trajectories were considered. In this sense, the numerical simulations were done by using the same orders and gains, showing the robustness of our fractional-order control strategy under different operating conditions. Further, the proposed controller uses the fractional derivative in the sense of Caputo-Fabrizio which has not been used enough in the area of robotics, so this is a start to analyse the contributions that arise when using said derivative in this robotic.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Intelligent Neural Integral Sliding-mode Controller for a space robotic manipulator mounted on a free-floating satellite



    Published in:

    Advances in Space Research ; 71 , 9 ; 3734-3747


    Publication date :

    2022-08-18


    Size :

    14 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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

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



    Space sliding manipulator

    WEI HUAHAI / PENG GONGMING / TAN WANHU et al. | European Patent Office | 2023

    Free access

    Simulator of Satellite - Mounted Multiple Manipulator

    Nagashima, F. | British Library Conference Proceedings | 1993


    Integral sliding mode controller design for near space vehicle with input constraints

    Wu Qi, / Wang Changqing, / Li Aijun, et al. | IEEE | 2016