NDLI: Terminal sliding mode control of coordinated motion of free-floating space robot with dual-arms

Content Provider	IEEE Xplore Digital Library
Author	Li Chen Yishen Guo
Copyright Year	2008
Description	Author affiliation: Coll. of Mech. Eng., Fuzhou Univ., Fuzhou (Li Chen; Yishen Guo)
Abstract	The control problem of coordinated motion of free-floating dual-arm space robot with external disturbance is discussed. Combined the linear momentum conversation and the Lagrangian approach, the full-controlled dynamic equations of free-floating space robot with dual-arms is established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique, a mathematical expression of the terminal sliding surface is proposed, and the terminal SMC scheme of coordinated motion between the basepsilas attitude and the armspsila joints of free-floating dual-arm space robot with external disturbance is developed. This proposed control scheme not only guarantees that the sliding phase of the closed-loop system exists, but also ensures that the output tracking error converges to zero in finite time. In addition, the control scheme eliminates the reaching phase of SMC and guarantees the global robustness and stability of the closed-loop system, because the initial state of system is always at the terminal sliding surface. A planar free-floating space robot with dual-arms is simulated to verify the feasibility of the proposed control scheme.
Starting Page	9055
Ending Page	9059
File Size	160971
Page Count	5
File Format	PDF
ISBN	9781424421138
DOI	10.1109/WCICA.2008.4594416
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Aerospace electronics Robots Robot kinematics Joints Equations Trajectory Manipulators Terminal sliding mode control Free-floating space robot with dual-arms External disturbance Dynamic equation Coordinated motion
Content Type	Text
Resource Type	Article

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