Strict finite-time sliding mode control for a tethered space net robot

作     者：Chen WANG Fan ZHANG Chen WANG;Fan ZHANG

作者机构：School of Construction MachineryChang’an UniversityXi’an 710072China School of AstronauticsNorthwestern Polytechnical UniversityXi’an 710072China 

出 版 物：《Chinese Journal of Aeronautics》 (中国航空学报（英文版）)

年 卷 期：2023年第36卷第12期

页      面：325-335页

核心收录：

学科分类：08[工学] 081105[工学-导航、制导与控制] 0825[工学-航空宇航科学与技术] 0811[工学-控制科学与工程] 

基　　金：supported by the National Natural Science Foundation of China(Nos.62222313 and 62173275) 

主　　题：Modified adaptive supertwisting control Strict finite-time convergence Tethered space net robot(TSNR) Time-varying disturbance Underactuated system 

摘      要：Tethered Space Net Robot(TSNR)is considered to be a promising approach for space debris removal,and accordingly it is also an interesting control problem due to its time-varying disturbances caused by an elastic and flexible net and a main connected *** this situation,the control scheme should be robust enough,low-frequency,and finite-time convergent in presence of external *** this paper,a robust controller with an advanced adaptive scheme is *** improve robustness,the disturbance is skillfully involved in the adaptive *** is strictly proven that the closed-loop system can converge to the desired trajectory in finite time in both reaching and sliding *** on the theoretical proof,adaptive gains and corresponding dynamic stability characteristics are further ***,the efficiency of the proposed control scheme is numerically proven via a *** proposed control scheme utilizes small and continuous control forces to compensate for the disturbance efficiently and track the desired trajectory quickly.