Fixed time trajectory tracking control for dual-arm space robot

被引：0
|
作者：
Hong M.-Q. [1 ]
Ding M. [1 ]
Gu X.-T. [1 ]
Guo Y. [1 ]
机构：
[1] School of Automation, Nanjing University of Science and Technology, Nanjing
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2022年 / 56卷 / 06期
关键词：
Convergence rate; Dual-arm space robot; Fixed-time convergence; Nonsingular fast terminal sliding mode; Trajectory tracking;
D O I：
10.3785/j.issn.1008-973X.2022.06.014
中图分类号：
学科分类号：
摘要：
For the trajectory tracking problem of the dual-arm space robot, a fixed-time nonsingular fast terminal sliding mode control strategy which was independent of the initial states was proposed, considering the convergence time of the tracking error was easily affected by the initial states of the system. Firstly, based on fixed-time stability theory, an improved fixed-time nonsingular fast terminal sliding mode surface was designed, which not only solved the singularity problems in terminal sliding mode control, but also guaranteed fast convergence rate of the tracking error whether it was away from or close to the origin. In order to weaken the chattering phenomenon of the sliding mode control and improve the convergence rate of reaching phase, an improved fixed-time reaching law was proposed. The fixed-time stability of the closed-loop system was proved by Lyapunov theory. The dual-arm space robot was taken as the controlled object for comparative simulation, and the results confirmed the higher control accuracy, faster convergence rate and better robustness of the proposed control strategy. Copyright ©2022 Journal of Zhejiang University (Engineering Science). All rights reserved.
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页码：1168 / 1174
页数：6
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