Abstract
For the angle tracking control problem of free floating three bar space manipulator with disturbance torque and joint dead zone, non singular fast terminal sliding mode fuzzy adaptive control is adopted to realize finite time stabilization of tracking error. In this method, a nonsingular fast terminal sliding surface is used to make the state variables converge rapidly in the sliding phase; The improved double power reaching law is selected to improve the convergence speed of state variables in the approaching motion stage, and fuzzy control is used to eliminate chattering and improve the control accuracy. At the same time, considering the dead time characteristics and disturbance torque of the manipulator joint, an adaptive compensator is designed to approach the upper bound of the dead time characteristics through adaptive control, so as to ensure the effective implementation of the tracking control. Finally, based on Lyapunov method, the global stability of the closed-loop system is proved theoretically, and the numerical simulation shows that the controller can effectively realize the task space path tracking control, effectively improve the trajectory tracking accuracy and anti disturbance ability, and alleviate the chattering phenomenon in the output of the controller.
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Zhang, Z., Yu, X., Gong, J. (2021). Non-singular Fast Terminal Sliding Mode Fuzzy Adaptive Control of Floating-Based Three-Link Space-Robot with Dead-Zone. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_32
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