Adaptive sliding mode control law for tethered space robot with saturated tension and thruster torque

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Abstract

This paper presents a sliding mode control for the motion control of tethered space robot. The input saturation of tension and thrusters is well taken into account, which is dealt with by a modified adaptive law to aid the expression of ideal control input in Lyapunov-based stability analysis. The adaptive law is designed to be naturally bounded such that the boundary of adaptive law is calculable and fixed to make the ideal input bounded, which satisfies the condition of the partial expression of the ideal input. For reducing the effect from disturbance and uncertainties, the relay-type control law combined with the adaptive law is used to drive the system states onto the sliding surface although the saturation occurs. Numerical simulation illustrate the results of deployment process to verify the effectiveness of the stability analysis.

Original languageEnglish
Title of host publicationProceedings of the 38th Chinese Control Conference, CCC 2019
EditorsMinyue Fu, Jian Sun
PublisherIEEE Computer Society
Pages2640-2645
Number of pages6
ISBN (Electronic)9789881563972
DOIs
StatePublished - Jul 2019
Event38th Chinese Control Conference, CCC 2019 - Guangzhou, China
Duration: 27 Jul 201930 Jul 2019

Publication series

NameChinese Control Conference, CCC
Volume2019-July
ISSN (Print)1934-1768
ISSN (Electronic)2161-2927

Conference

Conference38th Chinese Control Conference, CCC 2019
Country/TerritoryChina
CityGuangzhou
Period27/07/1930/07/19

Keywords

  • Input saturation
  • Sliding mode control
  • Tethered space robot

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