Adaptive sliding mode control for coordinated motion of free-floating space manipulators based on filtering technique - Details

author：

Guo, Yishen (Guo, Yishen.) ^[1] | Chen, Li (Chen, Li.) ^[2] (Scholars：陈力)

Indexed by：

EI Scopus

Abstract：

The　adaptive　sliding　mode　control　problem　of　coordinated　motion　of　a　free-floating　space　manipulator　with　uncertain　inertial　parameters　is　discussed.　Firstly,　with　the　Lagrangian　formulation　and　the　relationship　of　the　system　linear　momentum　conversation,　the　dynamic　equation　of　a　free-　floating　space　manipulator　is　derived.　Based　on　the　above　results,　a　lowpass　is　fixed　at　the　end　of　the　output　of　the　adaptive　sliding　mode　controller,　and　then　the　control　scheme　of　coordinated　motion　between　the　base　attitude　and　the　joints　of　the　free-floating　space　manipulator　is　developed.　This　proposed　control　scheme　can　eliminate　the　effect　of　uncertain　inertial　parameters　on　the　system,　filter　the　high-frequency　vibration　signals　of　the　output　of　the　adaptive　sliding　mode　controller　efficiently,　and　reduce　the　vibration　caused　by　the　movement　of　the　space　manipulator　to　control　the　space　manipulator　to　complete　the　desired　motion.　Lastly,　the　simulation　results　verify　the　effectiveness　of　the　proposed　control　scheme.　Copyright　©　2009　by　ASME.

Keyword：

Adaptive control systems Controllers Design Manipulators Robotic arms Sliding mode control Spacecraft equipment Uncertainty analysis

Community：

[ 1 ] [Guo, Yishen]College of Mechanical Engineering, Fuzhou University Fuzhou, Fujian, China
[ 2 ] [Chen, Li]College of Mechanical Engineering, Fuzhou University Fuzhou, Fujian, China

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