TY - GEN
T1 - Motion control of a space robot based on an optimized variable gain sliding mode control method
AU - Yao, He
AU - Shi, Lingling
AU - Xiao, Xiaolong
N1 - Publisher Copyright:
© 2021 ACM.
PY - 2021/5/28
Y1 - 2021/5/28
N2 - 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.
AB - 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.
KW - Coordinate motion control
KW - Optimization
KW - Sliding mode control
KW - Space robot
UR - http://www.scopus.com/inward/record.url?scp=85113441105&partnerID=8YFLogxK
U2 - 10.1145/3469213.3470235
DO - 10.1145/3469213.3470235
M3 - Conference contribution
AN - SCOPUS:85113441105
T3 - ACM International Conference Proceeding Series
BT - Proceedings of 2021 2nd International Conference on Artificial Intelligence and Information Systems, ICAIIS 2021
PB - Association for Computing Machinery
T2 - 2nd International Conference on Artificial Intelligence and Information Systems, ICAIIS 2021
Y2 - 28 May 2021 through 30 May 2021
ER -