Sliding mode switched tracking control of space robot manipulator Online publication date: Wed, 05-Apr-2023
by Juan Wang; Quanze Zhao; Liangliang Sun
International Journal of Modelling, Identification and Control (IJMIC), Vol. 42, No. 3, 2023
Abstract: This paper investigates the tracking control of space robot manipulator by sliding mode switched method. According to the difference between space gravity environment and ground gravity environment, a sliding mode switching control strategy based on dwell time is proposed. Since the gravity environment of space robot manipulator is different, the space robot manipulator is modelled as a multi-mode switching system. It is divided into ground subsystem and space subsystem, and different sliding mode controllers are designed, respectively. The stability of the switching system is proved by multiple Lyapunov function method and the trajectory track problem of space robot manipulator is realised in the framework of switching control. Finally, the simulation example shows the effectiveness of the proposed control method and the comparative simulation demonstrates the superiority of the proposed control method.
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