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Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Published online by Cambridge University Press:  16 June 2021

Wen Yan Open the ORCID record for Wen Yan [Opens in a new window] ,
Yicheng Liu ,
Qijie Lan ,
Tao Zhang  and
Haiyan Tu
Wen Yan
Affiliation:
College of Electrical Engineering, Sichuan University, Chengdu 610065, China
Yicheng Liu*
Affiliation:
College of Electrical Engineering, Sichuan University, Chengdu 610065, China
Qijie Lan
Affiliation:
Xichang Satellite Launch Center, Xichang 615000, China
Tao Zhang
Affiliation:
Department of Automation, Tsinghua University, Beijing 100084, China
Haiyan Tu
Affiliation:
College of Electrical Engineering, Sichuan University, Chengdu 610065, China
*
*Corresponding author. Email: liuyicheng@scu.edu.cn
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Abstract

This paper addresses fixed-time trajectory tracking for a dual-arm free-floating space robot (FFSR) with the large initial errors and bounded uncertainty. A wrist-based trajectory planning method is improved by fixed-time stability to fast eliminate the error caused by singularity. Then, a novel low-chattering and global-nonsingular fixed-time terminal sliding mode control strategy is studied by state approaching angle and switching sliding mode; the practical fixed-reachable Lyapunov stability analysis is presented for a mechanical control system. In the end, the proposed trajectory planning method and controller are combined to improve the tracking accuracy of end-effector to the nanoscale. Simulation results validate the effectiveness of the proposed methodologies.

Keywords

dual-arm space robottrajectory planningfixed-time stability (FTS)nonsingular terminal sliding modelow-chattering robust control

Information

Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 625 - 645
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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