ADAPTIVE SLIDING MODE CONTROL FOR COORDINATED MOTION OF FREE-FLOATING SPACE MANIPULATORS BASED ON FILTERING TECHNIQUE

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.