Robust chattering-free sliding mode control of space robot in task space
Baomin FENG
Guangcheng MA
Qiyong WEN
Changhong WANG
摘要：This paper studies the tracking control problem of a free-floating space robot in a task space.Considering the model uncertainties and external disturbance,a robust sliding mode controller is proposed using the Lyapunov direct method and dissipative theory.To eliminate the chattering phenomenon,an radial basis function(RBF)neural network is applied to replace the discontinuous part of the control signal.A novel on-line learning method of the weights and parameters of the RBF neural network established using Lyapunov function assures the stability of the system.It is proved that the proposed controller can guarantee that the L2 gain from disturbance to tracking error is lower than the given index γ.Simulation results show that the control method is valid.
机标关键词：space robotsliding mode controllerradial basis functionRBF neural networkdissipative theoryLyapunov functiontracking controltracking error
分类号：TP3(计算技术、计算机技术)
论文发表日期：2008-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：7( 146-152 )
英文信息