Title: Sliding mode switched tracking control of space robot manipulator

Authors: Juan Wang; Quanze Zhao; Liangliang Sun

Addresses: School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, 110168, China ' School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, 110168, China ' School of Electrical and Control Engineering, Shenyang Jianzhu University, Shenyang, 110168, China

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.

Keywords: space robot manipulator; switching control; sliding mode control; dwell time.

DOI: 10.1504/IJMIC.2023.130118

International Journal of Modelling, Identification and Control, 2023 Vol.42 No.3, pp.191 - 201

Received: 31 Mar 2022
Received in revised form: 20 May 2022
Accepted: 25 May 2022
Published online: 05 Apr 2023 *

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