The chattering-eliminating sliding mode controller of multi-arm space manipulator for coordinated operation

The problem of coordinated operation of multi-arm space manipulators is very challenging because of model uncertainties and the nonlinear coupling between the base body and arms. This paper employs the strong robust sliding mode control (SMC) to design the controller for such highly nonlinear complex system, and proposes a new sliding mode controller on the basis of the conventional one to eliminate the effect of chattering, in which a regulating routine is used to determine the proper positive values for the coefficient of sliding condition. To demonstrate the effectiveness of the proposed method, the simulations of a planar dual-arm manipulator system and the comparisons with the conventional sliding mode controller are presented.