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

Liu, Yicheng; Yan, Wen; Zhang, Tao; Yu, Chunxiao; Tu, Haiyan

doi:10.1109/tsmc.2021.3064898

Cited by 36 publications

(16 citation statements)

References 41 publications

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“…[31]) occurs for u → ∞ if x 1 → 0 and x 2 = 0. In order to overcome this problem, a sliding mode surface based on the mathematical idea of parameter switching in (32) is considered to design a nonsingular fixed-time terminal sliding mode controller. This switching strategy does not need to design multiple complex switch controllers (only switch parameters), and it can switch a singular sliding mode surface to the nonsingular one when x 1 = 0 and s = 0.…”

Section: Low-chattering Controller Designmentioning

confidence: 99%

“…Result 1. For system (16), if the controller is given by ( 34) and Assumption 1 is fulfilled, the sliding mode function (32) can converge to a boundary layer: s j (x j ) ≤ δ k dis within a fixed time T 2 . After the system reaches this boundary layer, the system state can be stabilized within a fixed-time T 3 at a small neighborhood of zero: B = {x j ;…”

Section: Low-chattering Controller Designmentioning

confidence: 99%

“…After the sliding surface reaches in region B, s j can be seen as a state-independent vector which has a boundary s j ≤ δ k dis . Hence, (32) takes this form,…”

Section: Low-chattering Controller Designmentioning

confidence: 99%

“…(1) A FTS-based singularity-avoidance trajectory planning method for a dual-arm FFSR is proposed to keep the base's pose stabilized with large initial errors. (2) A novel nonsingular terminal SMC scheme is proposed to ensure theoretical fixed-time convergence and reduce the chattering of controller: (a) according to natural non-singularity analysis of sliding stage [32], a novel terminal sliding mode surface is designed by switching exponential parameter to ensure both non-singularity and theoretical fixed-time convergence; (b) an approaching-angle-based switching function combined with the saturation function is used to suppress chattering. (3) Different from the common tracking control method of space robot, the outer loop of the joint spacebased robotic arm tracking control method with Cartesian path input [33] has been added a closedloop pose feedback.…”

Section: Introductionmentioning

confidence: 99%

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Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

et al. 2021

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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.

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Section: Low-chattering Controller Designmentioning

confidence: 99%

Section: Low-chattering Controller Designmentioning

confidence: 99%

“…After the sliding surface reaches in region B, s j can be seen as a state-independent vector which has a boundary s j ≤ δ k dis . Hence, (32) takes this form,…”

Section: Low-chattering Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

et al. 2021

Self Cite

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show abstract

“…To solve these problems, some scholars have studied scheduled time stabilization. The trajectory planning and control of a two-armed free-floating space robot based on predefined time stabilization is implemented in [22]. The problem of predefined-time attitude stabilization of a receptive vehicle with uncertain inertia and unknown external disturbances is implemented in [23].…”

Section: Introductionmentioning

confidence: 99%

Predefined-Time Fuzzy Neural Network Control for Omnidirectional Mobile Robot

et al. 2022

Self Cite

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In this paper, a fuzzy neural network based predefined-time trajectory tracking control method is proposed for the tracking problem of omnidirectional mobile robots (FM-OMR) with uncertainties. Considering the requirement of tracking error convergence time, a position tracking controller based on predefined-time stability is proposed. Compared with the traditional position tracking control method, the minimum upper bound of the convergence time can be explicitly set. In order to obtain more accurate angular velocity tracking, the inner loop controller combines Type 1 fuzzy neural network (T1FNN) to estimate the uncertainty. In addition, considering the problem of feedback channel noise, a Kalman filter combining velocity and position information is proposed. Finally, the simulation results verify the effectiveness of this method.

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Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints

Liu,

Gu,

Wang

et al. 2024

Intl J Robust & Nonlinear

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To achieve predefined‐time trajectory tracking control of a flexible‐joint space robot(FJSR) with actuator constraints, a nonsingular predefined‐time dynamic surface control scheme is developed. The input saturation caused by actuator constraints is addressed via the designed predefined‐time anti‐saturation compensator. On this basis, two different control laws are designed for such high‐order nonlinear systems by utilizing the backstepping technique, and a novel nonlinear filter is constructed to filter the virtual control signals, thus avoiding the “differential expansion” phenomenon. Moreover, a singularity‐free auxiliary function is designed to solve the singularity issue generated by the derivative of fractional power terms in the predefined‐time control algorithm framework. The closed‐loop system is proven to be semi‐globally predefined‐timely uniformly ultimately bounded (SGPTUUB) via constructing the suitable Lyapunov function. The difference and effectiveness of the two designed control laws are illustrated by the conducted simulations. Both of them allow the FJSR system to track the desired trajectory in a reasonably predefined time.

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

Cited by 36 publications

References 41 publications

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Trajectory planning and low-chattering fixed-time nonsingular terminal sliding mode control for a dual-arm free-floating space robot

Predefined-Time Fuzzy Neural Network Control for Omnidirectional Mobile Robot

Nonsingular predefined‐time dynamic surface control of a flexible‐joint space robot with actuator constraints

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