TY - JOUR
T1 - Fuzzy Approximate Learning-Based Sliding Mode Control for Deploying Tethered Space Robot
AU - Ma, Zhiqiang
AU - Huang, Panfeng
AU - Kuang, Zhian
N1 - Publisher Copyright:
© 1993-2012 IEEE.
PY - 2021/9
Y1 - 2021/9
N2 - This article proposes a hybrid control scheme synthesizing fuzzy approximate Q-iteration algorithm and discrete-time terminal-like sliding mode control for deploying tethered space robot, which is modeled as a deterministic Markov decision process. The existence of a switching condition allows FQ-iteration algorithm and terminal-like sliding surface constituting an optimal sliding mode control, and the fuzzy logic approximation is employed to improve the efficiency of optimization. Under arbitrary switching, the sliding mode reaching law works to compress the contraction of sliding surface variable. Simulation results verify the analyses on contraction of fuzzy approximate Q-iteration for optimal sliding mode control, the stability of reduced-order system yielded by the proposed discrete-time terminal-like sliding surface, and existence of switching condition.
AB - This article proposes a hybrid control scheme synthesizing fuzzy approximate Q-iteration algorithm and discrete-time terminal-like sliding mode control for deploying tethered space robot, which is modeled as a deterministic Markov decision process. The existence of a switching condition allows FQ-iteration algorithm and terminal-like sliding surface constituting an optimal sliding mode control, and the fuzzy logic approximation is employed to improve the efficiency of optimization. Under arbitrary switching, the sliding mode reaching law works to compress the contraction of sliding surface variable. Simulation results verify the analyses on contraction of fuzzy approximate Q-iteration for optimal sliding mode control, the stability of reduced-order system yielded by the proposed discrete-time terminal-like sliding surface, and existence of switching condition.
KW - Discrete-time system
KW - fuzzy approximate Q-iteration algorithm
KW - Markov decision process (MDP)
KW - optimal sliding mode control (SMC)
KW - tethered space robot (TSR)
KW - underactuated system
UR - http://www.scopus.com/inward/record.url?scp=85114464215&partnerID=8YFLogxK
U2 - 10.1109/TFUZZ.2020.3006583
DO - 10.1109/TFUZZ.2020.3006583
M3 - 文章
AN - SCOPUS:85114464215
SN - 1063-6706
VL - 29
SP - 2739
EP - 2749
JO - IEEE Transactions on Fuzzy Systems
JF - IEEE Transactions on Fuzzy Systems
IS - 9
M1 - 9132628
ER -