Predefined-Time Sliding Mode Control with Prescribed Performence for Space Manipulators Based on HOFA Approaches

For base-controlled space manipulators, this paper proposes a predefined-time sliding mode controller with predefined performance based on fully-actuated system theory. First, the system model is transformed into a second-order fully-actuated system model using the fully-actuated system theory. Then, a fully-actuated controller is designed via parameterized design method, followed by the design of predefined performance bounds to ensure that the system always remains within the defined bounds during trajectory tracking. Subsequently, the predefined-time design is incorporated to accelerate the convergence speed and enhance system performance. The stability of the controller is rigorously proven using Lyapunov theory, and the effectiveness of the control algorithm is validated through numerical simulations of a base-controlled two-link space manipulators.