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Time delay estimation-based reactionless augmented adaptive sliding mode control of a space manipulator’s pregrasping a target

Published online by Cambridge University Press:  11 March 2022

Xiaoyan Yu Open the ORCID record for Xiaoyan Yu [Opens in a new window] ,
Jianqiao Guo  and
Jianyu Zhang
Xiaoyan Yu*
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou350116, China Key Laboratory of Fluid Power and Intelligent Electro-Hydraulic Control, (Fuzhou University), Fujian Province University, Fuzhou350116, China
Jianqiao Guo*
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou350116, China
Jianyu Zhang
Affiliation:
School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou350116, China
*
*Corresponding author. E-mail: [email protected]
*Corresponding author. E-mail: [email protected]
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Abstract

Reaction null space (RNS) planning and control of a planar three-link space manipulator’s pregrasping a spinning target are studied. First, the Lagrange dynamic model of the manipulator was established. Second, the RNS motion planning algorithm was derived, and the vector norm constraint algorithm of RNS planning was addressed to ensure certain joint angular acceleration constraints were satisfied. Furthermore, an augmented adaptive sliding mode controller based on time delay estimation (TDE) was proposed. This controller estimated the unknowns of the system by TDE technology, in which accurate and complete dynamics were not required, and an adaptive TDE was introduced to decrease the estimation errors and avoid serious chattering. Finally, numerical simulations were carried out to verify the effectiveness of the proposed RNS planning and control algorithm.

Keywords

reaction null spacefree-floating manipulatormotion planningtime delay estimationaugmented adaptive sliding mode control
Type
Reply
Information
Robotica , Volume 40 , Issue 9 , September 2022 , pp. 3136 - 3156
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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