A switching-based backstepping sliding mode control for space manipulator in presence of gravity variation

• Published in: 高技术通讯（英文版） Vol. 27; no. 4; pp. 454 - 462
• Main Authors: Liu Fucai, Zhao Wenna, Meng Lingcong, Liu Shuo
• Format: Journal Article
• Language: English
• Published: Key Laboratory of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao 066004,P.R.China%Engineering Department,University of Sheffield,Sheffield,UK 01.12.2021
• Subjects: microgravity; space manipulator; switching system; backstepping sliding mode control (BSMC); multi-Lyapunov functions
• ISSN: 1006-6748
• DOI: 10.3772/j.issn.1006-6748.2021.04.015

A novel switching-based backstepping sliding mode control (SBSMC) scheme is devised for the space manipulator exposed to different gravity.With a view to distinct differences in dynamics prop-erties when the operating condition of space manipulator changes,the space manipulator can be thought of as a system composed of two subsystems,the ground subsystem and the space subsystem.Two different types of backstepping sliding mode (BSM) controllers are designed,one is suited for the ground subsystem and the other is for the space one.The switching between two subsystems can be implemented automatically when the switching mechanism is triggered,and the controllers for their subsystems experience synchronous switching.In this way,the space manipulator always has good behaviors in trajectory tracking.Moreover,multi-Lyapunov functions are introduced to prove the stability of this switching approach.According to simulation results,the method constructed in this research has better performance in control precision and adaptability compared with proportional-derivative (PD) control.