Trajectory Tracking for a Dual-Arm Free-Floating Space Robot With a Class of General Nonsingular Predefined-Time Terminal Sliding Mode

Abstract

This paper addresses trajectory planning and control for a dual-arm free-floating space robot (FFSR) based on predefinedtime stability. Firstly, a class of general nonsingular terminal sliding mode control strategy is proposed to achieve global predefined-time stability by switching a control parameter in a form of function. Then, a high-precision trajectory planning method is proposed for a FFSR using the proposed predefined-time stability theorem, which can make the end-effector and the base reach the desired pose within a prespecified time, and reduce the adverse effect on planning accuracy resulted from the singularity avoidance algorithm and the obstacle avoidance one. Subsequently, a trajectory tracking control strategy is proposed for a FFSR employing the proposed general nonsingular predefined-time terminal sliding mode, and the tracking errors can converge within a predefined time to an arbitrarily small neighborhood of zero in the presence of persistent disturbances. The proposed trajectory planning method has the advantage of pose feedback, so can be combined with the trajectory tracking controller in the control process to further enhance the control performance for the FFSR. Simulation results validate the effectiveness of the proposed methodologies.