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Fixed-time adaptive prescribed-performance sliding-mode control for space manipulators with actuator uncertainties.

Sheng Gao1, Wei Zhang1, Shaoqian Li2

  • 1State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, China.

ISA Transactions
|February 18, 2026
PubMed
Summary

This study introduces a fixed-time adaptive control for space manipulators, ensuring fast, accurate tracking despite disturbances and faults. The novel method guarantees system stability and performance, validated by simulations and experiments.

Keywords:
Actuator uncertaintiesAdaptive control lawFixed-time controlPrescribed performance controlSpace manipulator

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Area of Science:

  • Robotics and Control Systems
  • Aerospace Engineering
  • Applied Mathematics

Background:

  • Space manipulators face complex challenges including external disturbances, uncertainties, and actuator faults.
  • Achieving precise and robust tracking control under these conditions is critical for mission success.
  • Existing control methods may struggle with rapid convergence and guaranteed performance bounds.

Purpose of the Study:

  • To develop a fixed-time adaptive tracking control scheme with prescribed performance for space manipulators.
  • To ensure both transient and steady-state performance under various operational challenges.
  • To enhance robustness against unknown disturbances, uncertainties, and actuator faults.

Main Methods:

  • Introduction of an enhanced prescribed performance function for performance bounds.
  • Construction of a non-singular fast terminal sliding-mode surface based on tracking error.
  • Development of a model-based fixed-time control strategy, followed by an adaptive law to estimate and compensate for uncertainties.
  • Rigorous stability analysis using Lyapunov theory.

Main Results:

  • The proposed control scheme achieves rapid convergence and high tracking accuracy.
  • Demonstrated robustness against bounded external disturbances, parametric uncertainties, and actuator faults.
  • Fixed-time stability and prescribed performance compliance were rigorously proven.
  • Effectiveness validated through numerical simulations and experimental results on a space manipulator.

Conclusions:

  • The developed fixed-time adaptive prescribed-performance control is effective and superior for space manipulators.
  • The approach successfully addresses challenges like disturbances, uncertainties, and faults.
  • It offers a promising solution for high-performance space robotic operations.