Motion control of a space robot based on an optimized variable gain sliding mode control method
Authors: 
He Yao, Lingling Shi, Xiaolong XiaoAuthors Info & Claims
He Yao, Lingling Shi, Xiaolong XiaoAuthors Info & ClaimsArticle No.: 35, Pages 1 - 4
Abstract
A variable gain sliding mode control algorithm is proposed for a space robot to track the path aimed at capturing a target. First, the dynamic model of the space robot is constructed based on the Lagrangian method, and the dynamic equation when the system parameters are uncertain is given. A sliding mode controller which introduces a variable gain is developed. The gain can adapt to the uncertainty of the system and its motion thereby facilitating the controller to be robust.Further, taking the motion error as the objective function, the gain of the sliding surface is optimized by adopting the modified gaussian barebones differential evolution method. Then the trajectory tracking simulation experiment of the space robot is carried out by adopting the modified gaussian barebones differential evolution method. In addition, the controller is demonstrated to present high control accuracy and the controller with optimization has smaller tracking error.
References
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May 2021
2053 pages
ISBN:9781450390200
DOI:10.1145/3469213
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Published: 18 August 2021
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ICAIIS 2021
ICAIIS 2021: 2021 2nd International Conference on Artificial Intelligence and Information Systems
May 28 - 30, 2021
Chongqing, China
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