T-S Fuzzy Compensation Based Sliding Mode Control for a Free-Floating Space Manipulator

A fuzzy sliding mode control with simple structure and fast response is proposed for the trajectory tracking in joint space of free-floating space manipulators with uncertainties such as friction, external disturbance and unmodeled dynamics. In this fuzzy sliding mode controller, the feedback linearization method is used to equivalent the known part of the dynamics, then a sliding mode control part is addressed to eliminate the uncertainties of the system, finally a T-S fuzzy compensation is proposed to simplify the controller to reduce the computational burden and speed up system response. The system stability under this fuzzy sliding mode controller is proved by Lyapunov theory. The simulation comparison with nominal model based robust sliding mode control shows the superiority of the proposed control method in convergence speed, response speed and the performance of chattering elimination.

[1]  Rong-Jong Wai,et al.  Adaptive Fuzzy Neural Network Control Design via a T–S Fuzzy Model for a Robot Manipulator Including Actuator Dynamics , 2008, IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics).

[2]  Noriyasu Inaba,et al.  Space robot technology experiments on NASDA's ETS-VII satellite , 1998, Adv. Robotics.

[3]  Li Chen,et al.  Modeling and observer-based augmented adaptive control of flexible-joint free-floating space manipulators , 2015 .

[4]  Vicente Feliú Batlle,et al.  Input-state feedback linearization control of a single-link flexible robot arm moving under gravity and joint friction , 2017, Robotics Auton. Syst..

[5]  Anthony Green,et al.  ROBOT MANIPULATOR CONTROL FOR RIGID AND ASSUMED MODE FLEXIBLE DYNAMICS MODELS , 2003 .

[6]  Li Chen,et al.  Singular perturbation adaptive control and vibration suppression of free-flying flexible space manipulators , 2015 .

[7]  Lee B. Holcomb,et al.  NASA Automation and Robotics Technology Program , 1987 .

[8]  Tomasz Rybus,et al.  Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC) , 2017, J. Intell. Robotic Syst..

[9]  Maolin Jin,et al.  A New Adaptive Sliding-Mode Control Scheme for Application to Robot Manipulators , 2016, IEEE Transactions on Industrial Electronics.

[10]  Zeyun Li,et al.  A Novel Adaptive Sliding Mode Control for Manipulator with External Disturbance , 2018, 2018 37th Chinese Control Conference (CCC).

[11]  Saeed Khorashadizadeh,et al.  Optimal sliding mode control of a robot manipulator under uncertainty using PSO , 2016 .

[12]  Jing Zhao,et al.  Adaptive dynamic sliding mode control for space manipulator with external disturbance , 2018, J. Control. Decis..

[13]  R. Boumans,et al.  The European Robotic Arm for the International Space Station , 1998, Robotics Auton. Syst..

[14]  Liang-Boon Wee,et al.  Adaptive control of space-based robot manipulators , 1991, IEEE Trans. Robotics Autom..

[15]  Li Chen,et al.  Observer-based two-time scale robust control of free-flying flexible-joint space manipulators with external disturbances , 2017, Robotica.

[16]  Seungwoo Kim,et al.  Takagi-Sugeno fuzzy model based indirect adaptive fuzzy observer and controller design , 2010, Inf. Sci..

[17]  Xiao-Yan Yu.  Augmented robust control of a free-floating flexible space robot , 2015 .

[18]  Hongrui Wang,et al.  An Intelligent Sliding Mode Controller Based on Nominal Model of Robotic Manipulator , 2008, 2008 Fourth International Conference on Natural Computation.

[19]  Jianjun Luo,et al.  A non-linear model predictive controller with obstacle avoidance for a space robot , 2016 .