For the trajectory tracking problem of the dual-arm space robot, a fixed-time nonsingular fast terminal sliding mode control strategy which was independent of the initial states was proposed, considering the convergence time of the tracking error was easily affected by the initial states of the system. Firstly, based on fixed-time stability theory, an improved fixed-time nonsingular fast terminal sliding mode surface was designed, which not only solved the singularity problems in terminal sliding mode control, but also guaranteed fast convergence rate of the tracking error whether it was away from or close to the origin. In order to weaken the chattering phenomenon of the sliding mode control and improve the convergence rate of reaching phase, an improved fixed-time reaching law was proposed. The fixed-time stability of the closed-loop system was proved by Lyapunov theory. The dual-arm space robot was taken as the controlled object for comparative simulation, and the results confirmed the higher control accuracy, faster convergence rate and better robustness of the proposed control strategy.
Meng-qing HONG,Meng DING,Xiu-tao GU,Yu GUO. Fixed time trajectory tracking control for dual-arm space robot. Journal of ZheJiang University (Engineering Science), 2022, 56(6): 1168-1174.
Tab.1Mass property parameters of dual-arm space robot
Fig.2Trajectory tracking of dual-arm space robot system
Fig.3Control torque of dual-arm space robot
Fig.4Convergence time under different initial states
Fig.5Convergence time under different fixed-time controllers
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