Motion control of a space robot based on an optimized variable gain sliding mode control method

He Yao, Lingling Shi, Xiaolong Xiao

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

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.

源语言英语
主期刊名Proceedings of 2021 2nd International Conference on Artificial Intelligence and Information Systems, ICAIIS 2021
出版商Association for Computing Machinery
ISBN(电子版)9781450390200
DOI
出版状态已出版 - 28 5月 2021
活动2nd International Conference on Artificial Intelligence and Information Systems, ICAIIS 2021 - Chongqing, 中国
期限: 28 5月 202130 5月 2021

出版系列

姓名ACM International Conference Proceeding Series

会议

会议2nd International Conference on Artificial Intelligence and Information Systems, ICAIIS 2021
国家/地区中国
Chongqing
时期28/05/2130/05/21

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