Abstract
In order to improve the success rate of space debris object capture, how to increase the resistance to interference in the space robot arm has become an issue of interest. In addition, since the space operation time is always limited, finite-time control has become another urgent requirement needed to be addressed. Considering external disturbances, two control methods are proposed in this paper to solve the control problem of space robot arm. Firstly, a linear sliding mode control method is proposed considering the model uncertainties and external disturbances. The robot arm can track the desired trajectory, while a trade-off between optimality and robustness of the solved system can be achieved. Then, in order to reduce conservativeness and relax restrictions on external disturbances, a novel backstepping control method based on a finite-time integral sliding mode disturbance observer is developed, which compensates for the effects of both model uncertainties and infinite energy-based disturbance inputs. Finally, simulation examples are given to illustrate the effectiveness of the proposed control method.
Highlights
With the rapid growth of space projects in the last several decades, the increasing space debris residues from satellites scrapped in space bring huge threat to the existing on-orbit spacecraft [1]. erefore, how to reduce the amount of space debris and effectively lower their risk level becomes more and more urgent
Considering all the above practical challenges, in this paper, we study the stabilization problem of the flexible deceleration brush detumbling mechanism attached to a space robot arm
Considering the fact that in practical space, the external disturbance always refers to the mismatched type, a novel backstepping control law with the finite-time integral sliding mode disturbance observer is developed, which can compensate the effects of model uncertainty and mismatched disturbance input simultaneously
Summary
With the rapid growth of space projects in the last several decades, the increasing space debris residues from satellites scrapped in space bring huge threat to the existing on-orbit spacecraft [1]. erefore, how to reduce the amount of space debris and effectively lower their risk level becomes more and more urgent. In this paper, a robust control system for a robotic arm will be designed based on the backstepping method and the model will be compensated with a finite-time integral sliding mode disturbance observer in that it can approximate the disturbance moment vector well. E proposed control law can stabilize the overall closed-loop system with a prescribed H∞ performance level In this design, by using the weighting matrix method, the balance between the optimality and robustness of the detumbling system is achieved. Considering the fact that in practical space, the external disturbance always refers to the mismatched type, a novel backstepping control law with the finite-time integral sliding mode disturbance observer is developed, which can compensate the effects of model uncertainty and mismatched disturbance input simultaneously. Simulation examples are given to verify the accuracy and effectiveness of the controller
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