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

科研成果: 书/报告/会议事项章节会议稿件同行评审

摘要

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.

源语言英语
主期刊名Proceedings of the 38th Chinese Control Conference, CCC 2019
编辑Minyue Fu, Jian Sun
出版商IEEE Computer Society
2640-2645
页数6
ISBN(电子版)9789881563972
DOI
出版状态已出版 - 7月 2019
活动38th Chinese Control Conference, CCC 2019 - Guangzhou, 中国
期限: 27 7月 201930 7月 2019

出版系列

姓名Chinese Control Conference, CCC
2019-July
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议38th Chinese Control Conference, CCC 2019
国家/地区中国
Guangzhou
时期27/07/1930/07/19

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