NDLI: Fuzzy Variable Structure Sliding-mode Control for Dual-arm Space Robot to Get Base and End-points Cooperative Motion

Content Provider	IEEE Xplore Digital Library
Author	Chen Zhihuang Chen Li
Copyright Year	2007
Description	Author affiliation: Fuzhou Univ., Fuzhou (Chen Zhihuang)
Abstract	In this paper, a kind of nonlinear dynamic model of dual-arm free-floating space robot systems is presented based on Lagrange method. Based on the result, the control problem for space manipulator to track the desired trajectory in joint workspace is discussed. Because of the high structure complexity and the parameter uncertainty of space manipulator systems, the scheme of variable structure sliding-mode control with better robustness to uncertainty and disturbance is proposed. Fuzzy controllers are designed at the aim of chattering reduction and rapid response. The fuzzy controllers can tune the sliding control law automatically according to the relationship between system state and switching manifold. The effect of the controller is testified by computer simulation.
Starting Page	366
Ending Page	370
File Size	519143
Page Count	5
File Format	PDF
ISBN	9787811240559
DOI	10.1109/CHICC.2006.4347143
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-07-26
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertain systems free-floating dual-arm space robot Control systems fuzzy variable sliding-mode control Sliding mode control Lagrangian functions Orbital robotics Robust control Fuzzy control Automatic control Trajectory workspace-trajectory tracking Manipulator dynamics
Content Type	Text
Resource Type	Article

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