Terminal Sliding Mode Control for Coordinated Motion of Space Rigid Manipulator With External Disturbance

GUO Yi-shen; CHEN Li

Volume 29 Issue 5

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GUO Yi-shen, CHEN Li. Terminal Sliding Mode Control for Coordinated Motion of Space Rigid Manipulator With External Disturbance[J]. Applied Mathematics and Mechanics, 2008, 29(5): 525-532.

Citation:

GUO Yi-shen, CHEN Li. Terminal Sliding Mode Control for Coordinated Motion of Space Rigid Manipulator With External Disturbance[J]. Applied Mathematics and Mechanics, 2008, 29(5): 525-532.

Citation:

GUO Yi-shen, CHEN Li. Terminal Sliding Mode Control for Coordinated Motion of Space Rigid Manipulator With External Disturbance[J]. Applied Mathematics and Mechanics, 2008, 29(5): 525-532.

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Terminal Sliding Mode Control for Coordinated Motion of Space Rigid Manipulator With External Disturbance

College of Mechanical Engineering, Fuzhou University, Fuzhou 350002, P. R. China

Received Date: 2008-01-02
Rev Recd Date: 2008-03-18
Publish Date: 2008-05-15

Abstract

Abstract

The control problem of coordinated motion of free-floating space rigid manipulator with external disturbance is discussed.With the relationship of the linear momentum conversation and the Lagrangian approach,the full-controlled dynamic equation and the Jacobian relation of free-floating space rigid manipulator were established and then inverted to the state equation for control design. Based on the terminal sliding mode control(SMC)technique,a mathematical expression of the terminal sliding surface was proposed,and then the terminal SMC scheme was developed for coordinated motion between the base's attitude and the end-effector of free-floating space manipulator with external disturbance.This proposed control scheme not only guarantees that the sliding phase of the closed-loop system exists,but also ensures that the output tracking error converges to zero in finite time.In addition,since the initial state of system is always at the terminal sliding surface,the control scheme can eliminate the reaching phase of the SMC and guarantee the global robustness and stability of the closed-loop system.A planar free-floating space rigid manipulator is simulated to verify the feasibility of the proposed control scheme.
- free-floating space rigid manipulator,
- external disturbance,
- terminal sliding surface,
- coordinated motion,
- terminal sliding mode control

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References(18)

References

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