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

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• On-orbit servicing (OOS) requires advanced space manipulators capable of complex tasks.
• Free-floating manipulators face unique challenges like dynamic coupling and unfixed bases, unlike ground robots.

Purpose of the Study:

• To develop and validate a robust control strategy for trajectory-tracking and internal force control of free-floating close-chain manipulators.
• To address the unique challenges of space robotics in OOS missions.

Main Methods:

• Utilized momentum conservation and spatial operator algebra (SOA) for manipulator kinematics and dynamics.
• Designed an adaptive fuzzy integral sliding mode controller (AFISMC) with time delay estimation (TDE) for trajectory tracking.
• Implemented a proportional-integral (PI) controller for internal force control.
• Proved global asymptotic stability using Lyapunov methodology.

Main Results:

• Numerical simulations demonstrated the controller's effectiveness in trajectory tracking for free-floating manipulators.
• The proposed AFISMC achieved desired tracking capabilities under simulated OOS conditions.
• The controller successfully managed both trajectory tracking and internal force control.

Conclusions:

• The developed AFISMC provides a viable solution for controlling free-floating space manipulators in OOS.
• The control strategy enhances the precision and reliability of robotic operations in space.
• This research contributes to the advancement of autonomous space robotics.