Abstract
The safe and dependable removal of large-scale space debris has been a long-standing challenge that is critical to the safety of spacecraft and astronauts. In the process of capturing and deorbiting space debris, the space manipulator must achieve extremely high control and precision. However, strong couplings, model uncertainties, and various inevitable unknown disturbances cause many difficulties in coordinated control of the space manipulator. To solve this challenge, this study examines the stabilization control of a space manipulator after capturing non-cooperative large-scale space debris and presents an adaptive integral sliding mode control (AISMC) scheme with time-delay estimation (TDE). The coupling term and lumped uncertainty are estimated by TDE technology, which eliminates the requirement of prior knowledge. Adaptive sliding mode control (ASMC) is used as desired injecting dynamics to compensate TDE errors, and a PID-type integral sliding mode surface is designed to reduce steady-state errors. The Lyapunov criterion is used to prove the global stability of the controller. Simulation results show that the controller has high tracking accuracy and strong robustness.
Highlights
Space debris has huge kinetic energy, posing a major threat to spacecraft in orbit and astronauts’ space activities
When an Adaptive sliding mode control (ASMC) based on time-delay estimation (TDE) technology tracks any trajectory, external disturbances may introduce certain steady-state errors that are difficult to fix by parameter adaptation, preventing the ASMC from achieving satisfactory performance
TDE-based adaptive integral sliding mode control (AISMC) method is designed for controlled systems containing uncertainties and disturbances, and its closed-loop stability is demonstrated
Summary
Space debris has huge kinetic energy, posing a major threat to spacecraft in orbit and astronauts’ space activities. Liu studied the target unrolling scheme of the flexible base space robot after capture and designed a coordination controller to track the planned trajectory [14]. Lee proposed an adaptive integral sliding mode control (AISMC) with TDE, and the dynamic injection part uses adaptive gain dynamics to achieve applicable high tracking accuracy, but the finite-time stability of the system cannot be guaranteed [31]. When an ASMC based on TDE technology tracks any trajectory, external disturbances may introduce certain steady-state errors that are difficult to fix by parameter adaptation, preventing the ASMC from achieving satisfactory performance. The PID-type integral sliding mode surface is designed to effectively reduce the steady-state errors and ensure the robustness of motion throughout the state space. TDE-based AISMC method is designed for controlled systems containing uncertainties and disturbances, and its closed-loop stability is demonstrated.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
