Adaptive Fuzzy Integral Sliding Mode Cooperative Control Based on Time-Delay Estimation for Free-Floating Close-Chain Manipulators

被引:0
|
作者
Li, Zhongcan [1 ,2 ]
Zhou, Yufei [1 ,2 ]
Zhu, Mingchao [1 ]
Wu, Qingwen [1 ]
机构
[1] Chinese Acad Sci, Changchun Inst Opt Fine Mech & Phys, 3888,Dong Nanhu Rd, Changchun 130033, Peoples R China
[2] Univ Chinese Acad Sci, Beijing 100049, Peoples R China
基金
中国国家自然科学基金;
关键词
time delay estimation; free-floating close-chain manipulators; adaptive fuzzy; integral sliding mode control; internal force; COMPUTED TORQUE CONTROL; SPACE ROBOT; NULL-SPACE; DYNAMICS;
D O I
10.3390/s24123718
中图分类号
O65 [分析化学];
学科分类号
070302 ; 081704 ;
摘要
Space manipulators are expected to perform more challenging missions in on-orbit service (OOS) systems, but there are some unique characteristics that are not found on ground-based robots, such as dynamic coupling between space bases and manipulators, limited fuel supply, and working with unfixed bases. This paper focuses on trajectory-tracking control and internal force control for free-floating close-chain manipulators. First, the kinematics and dynamics of free-floating close-chain manipulators are given using the momentum conservation and spatial operator algebra (SOA) methodologies, respectively. Furthermore, an adaptive fuzzy integral sliding mode controller (AFISMC) based on time delay estimation (TDE) was designed for trajectory-tracking control, and a proportional-integral (PI) control strategy was adopted for internal force control. The global asymptotic stability of the proposed controller was proven by using the Lyapunov methodology. Three cases were conducted to verify the efficiency of the controller by using numerical simulations on two six-link manipulators with a free-floating base. The controller presents the desired tracking capability.
引用
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页数:31
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