Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot. Issue 3 (16th March 2022)

• Record Type: Journal Article
• Authors: Yan, Wen; Liu, Yicheng; Lan, Qijie; Zhang, Tao; Tu, Haiyan
• Is Part Of: Robotica. Volume 40:Issue 3(2022)
• Page Start: 625
• Page End: 645
• Publication Date: 2022-03-16
• Subjects: dual-arm space robot -- trajectory planning -- fixed-time stability (FTS) -- nonsingular terminal sliding mode -- low-chattering robust control; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574721000734
• Languages: English
• ISSNs: 0263-5747

Abstract

Abstract: This paper addresses fixed-time trajectory tracking for a dual-arm free-floating space robot (FFSR) with the large initial errors and bounded uncertainty. A wrist-based trajectory planning method is improved by fixed-time stability to fast eliminate the error caused by singularity. Then, a novel low-chattering and global-nonsingular fixed-time terminal sliding mode control strategy is studied by state approaching angle and switching sliding mode; the practical fixed-reachable Lyapunov stability analysis is presented for a mechanical control system. In the end, the proposed trajectory planning method and controller are combined to improve the tracking accuracy of end-effector to the nanoscale. Simulation results validate the effectiveness of the proposed methodologies.