Adaptive Fuzzy Integral Sliding Mode Cooperative Control Based on Time-Delay Estimation for Free-Floating Close-Chain Manipulators

doi:10.3390/s24123718

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	Adaptive Fuzzy Integral Sliding Mode Cooperative Control Based on Time-Delay Estimation for Free-Floating Close-Chain Manipulators
	Z. C. Li, Y. F. Zhou, M. C. Zhu and Q. W. Wu
	2024
发表期刊	Sensors
卷号	24 期号:12 页码:31
摘要	Space manipulators are expected to perform more challenging missions in on-orbit service (OOS) systems, but there are some unique characteristics that are not found on ground-based robots, such as dynamic coupling between space bases and manipulators, limited fuel supply, and working with unfixed bases. This paper focuses on trajectory-tracking control and internal force control for free-floating close-chain manipulators. First, the kinematics and dynamics of free-floating close-chain manipulators are given using the momentum conservation and spatial operator algebra (SOA) methodologies, respectively. Furthermore, an adaptive fuzzy integral sliding mode controller (AFISMC) based on time delay estimation (TDE) was designed for trajectory-tracking control, and a proportional-integral (PI) control strategy was adopted for internal force control. The global asymptotic stability of the proposed controller was proven by using the Lyapunov methodology. Three cases were conducted to verify the efficiency of the controller by using numerical simulations on two six-link manipulators with a free-floating base. The controller presents the desired tracking capability.
DOI	10.3390/s24123718
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收录类别	SCI ; EI
语种	英语
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/68800
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Z. C. Li, Y. F. Zhou, M. C. Zhu and Q. W. Wu. Adaptive Fuzzy Integral Sliding Mode Cooperative Control Based on Time-Delay Estimation for Free-Floating Close-Chain Manipulators[J]. Sensors,2024,24(12):31.
APA	Z. C. Li, Y. F. Zhou, M. C. Zhu and Q. W. Wu.(2024).Adaptive Fuzzy Integral Sliding Mode Cooperative Control Based on Time-Delay Estimation for Free-Floating Close-Chain Manipulators.Sensors,24(12),31.
MLA	Z. C. Li, Y. F. Zhou, M. C. Zhu and Q. W. Wu."Adaptive Fuzzy Integral Sliding Mode Cooperative Control Based on Time-Delay Estimation for Free-Floating Close-Chain Manipulators".Sensors 24.12(2024):31.

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