Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator

Meiling Hu; Xuebo Yang; Hanlin Dong; Yimu Jiang

doi:10.1109/ISAS59543.2023.10164509

Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator

Meiling Hu
, Xuebo Yang^*
, Hanlin Dong
, Yimu Jiang

^*Corresponding author for this work

School of Astronautics

Harbin Institute of Technology
Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

This article focuses on the tracking problem for n-link free-floating space manipulators (FFSM) subject to uncertainties. Based on a non-singular terminal sliding mode, a fixed time controller is well-designed, where the sliding surface is supposed to be reachable and the irrelevance between convergence time and system states' initial value is proved. Meanwhile, the uncertainties during modeling are well suppressed through the proposed robust control algorithm. At last, the Lyapunov stability theory is adopted to verify the fixed-time convergence of the closed-loop FFSM system. Simulation experiments taking a 6-DOF FFSM validate the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	2023 6th International Symposium on Autonomous Systems, ISAS 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350316155
DOIs	https://doi.org/10.1109/ISAS59543.2023.10164509
State	Published - 2023
Event	6th International Symposium on Autonomous Systems, ISAS 2023 - Nanjing, China Duration: 23 Jun 2023 → 25 Jun 2023

Publication series

Name	2023 6th International Symposium on Autonomous Systems, ISAS 2023

Conference

Conference	6th International Symposium on Autonomous Systems, ISAS 2023
Country/Territory	China
City	Nanjing
Period	23/06/23 → 25/06/23

Keywords

fixed time control
free-floating space manipulator
position tracking
terminal sliding-mode control

Access to Document

10.1109/ISAS59543.2023.10164509

Cite this

@inproceedings{c5234f7d71b84bfca7e8279c334f3be5,

title = "Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator",

abstract = "This article focuses on the tracking problem for n-link free-floating space manipulators (FFSM) subject to uncertainties. Based on a non-singular terminal sliding mode, a fixed time controller is well-designed, where the sliding surface is supposed to be reachable and the irrelevance between convergence time and system states' initial value is proved. Meanwhile, the uncertainties during modeling are well suppressed through the proposed robust control algorithm. At last, the Lyapunov stability theory is adopted to verify the fixed-time convergence of the closed-loop FFSM system. Simulation experiments taking a 6-DOF FFSM validate the effectiveness of the proposed control scheme.",

keywords = "fixed time control, free-floating space manipulator, position tracking, terminal sliding-mode control",

author = "Meiling Hu and Xuebo Yang and Hanlin Dong and Yimu Jiang",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 6th International Symposium on Autonomous Systems, ISAS 2023 ; Conference date: 23-06-2023 Through 25-06-2023",

year = "2023",

doi = "10.1109/ISAS59543.2023.10164509",

language = "英语",

series = "2023 6th International Symposium on Autonomous Systems, ISAS 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2023 6th International Symposium on Autonomous Systems, ISAS 2023",

address = "美国",

}

Hu, M, Yang, X, Dong, H & Jiang, Y 2023, Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator. in 2023 6th International Symposium on Autonomous Systems, ISAS 2023. 2023 6th International Symposium on Autonomous Systems, ISAS 2023, Institute of Electrical and Electronics Engineers Inc., 6th International Symposium on Autonomous Systems, ISAS 2023, Nanjing, China, 23/06/23. https://doi.org/10.1109/ISAS59543.2023.10164509

Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator. / Hu, Meiling; Yang, Xuebo; Dong, Hanlin et al.
2023 6th International Symposium on Autonomous Systems, ISAS 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 6th International Symposium on Autonomous Systems, ISAS 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator

AU - Hu, Meiling

AU - Yang, Xuebo

AU - Dong, Hanlin

AU - Jiang, Yimu

PY - 2023

Y1 - 2023

N2 - This article focuses on the tracking problem for n-link free-floating space manipulators (FFSM) subject to uncertainties. Based on a non-singular terminal sliding mode, a fixed time controller is well-designed, where the sliding surface is supposed to be reachable and the irrelevance between convergence time and system states' initial value is proved. Meanwhile, the uncertainties during modeling are well suppressed through the proposed robust control algorithm. At last, the Lyapunov stability theory is adopted to verify the fixed-time convergence of the closed-loop FFSM system. Simulation experiments taking a 6-DOF FFSM validate the effectiveness of the proposed control scheme.

AB - This article focuses on the tracking problem for n-link free-floating space manipulators (FFSM) subject to uncertainties. Based on a non-singular terminal sliding mode, a fixed time controller is well-designed, where the sliding surface is supposed to be reachable and the irrelevance between convergence time and system states' initial value is proved. Meanwhile, the uncertainties during modeling are well suppressed through the proposed robust control algorithm. At last, the Lyapunov stability theory is adopted to verify the fixed-time convergence of the closed-loop FFSM system. Simulation experiments taking a 6-DOF FFSM validate the effectiveness of the proposed control scheme.

KW - fixed time control

KW - free-floating space manipulator

KW - position tracking

KW - terminal sliding-mode control

UR - https://www.scopus.com/pages/publications/85165157542

U2 - 10.1109/ISAS59543.2023.10164509

DO - 10.1109/ISAS59543.2023.10164509

M3 - 会议稿件

AN - SCOPUS:85165157542

T3 - 2023 6th International Symposium on Autonomous Systems, ISAS 2023

BT - 2023 6th International Symposium on Autonomous Systems, ISAS 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th International Symposium on Autonomous Systems, ISAS 2023

Y2 - 23 June 2023 through 25 June 2023

ER -

Fixed-time Terminal Sliding-mode Control for Free-Floating Space Manipulator

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