Adaptive dynamic sliding mode control for space manipulator with external disturbance

作     者：Jing Zhao Sen Jiang Fei Xie Xian Wang Zeyun Li 

作者机构：School of AutomationNanjing University of Posts and TelecommunicationsNanjing 210023People’s Republic of China Jiangsu Key Laboratory of 3D Printing Equipment and ManufacturingNanjing 210042People’s Republic of China School of Electrical and Automation EngineeringNanjing Normal UniversityNanjingPeople’s Republic of China 

出 版 物：《Journal of Control and Decision》 (控制与决策学报（英文）)

年 卷 期：2019年第6卷第4期

页      面：236-251页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 

基　　金：This work is supported by National Nature Science Foundation[grant number 61403210],[grant number 61601228],[grant number 61603191] the Natural Science Foundation of Jiangsu Higher Education Institution[grant number 15KJB510016] Natural Science Foundation of Jiangsu[grant number BK20161021] sponsored by the Open Programme of Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing[item number 3DL201607] 

主　　题：Manipulator adaptive sliding mode control external disturbance chattering phenomenon 

摘      要：In this paper,a novel adaptive dynamic sliding mode control(ADSMC)methodology is developed for space manipulator control systems with external *** proposed ADSMC approach can make the systems stable and accurately track the desired signals in the presence of external ***,the simplified dynamic model of the manipulator is ***,the proposed adaptive dynamic sliding mode(ADSM)controller is given,which is proved to be able to guarantee high tracking accuracy via effectively estimating the disturbance ***,experimental results show that the dynamic sliding mode controller proposed in this paper can not only track the desired trajectory,but also present strong robustness for external disturbance,meanwhile effectively reduce the chattering phenomenon generated by switching between different sliding mode surfaces.