TY - GEN
T1 - The chattering-eliminating sliding mode controller of multi-arm space manipulator for coordinated operation
AU - Li, Jianchao
AU - Chu, Zhongyi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/12/23
Y1 - 2014/12/23
N2 - The problem of coordinated operation of multi-arm space manipulators is very challenging because of model uncertainties and the nonlinear coupling between the base body and arms. This paper employs the strong robust sliding mode control (SMC) to design the controller for such highly nonlinear complex system, and proposes a new sliding mode controller on the basis of the conventional one to eliminate the effect of chattering, in which a regulating routine is used to determine the proper positive values for the coefficient of sliding condition. To demonstrate the effectiveness of the proposed method, the simulations of a planar dual-arm manipulator system and the comparisons with the conventional sliding mode controller are presented.
AB - The problem of coordinated operation of multi-arm space manipulators is very challenging because of model uncertainties and the nonlinear coupling between the base body and arms. This paper employs the strong robust sliding mode control (SMC) to design the controller for such highly nonlinear complex system, and proposes a new sliding mode controller on the basis of the conventional one to eliminate the effect of chattering, in which a regulating routine is used to determine the proper positive values for the coefficient of sliding condition. To demonstrate the effectiveness of the proposed method, the simulations of a planar dual-arm manipulator system and the comparisons with the conventional sliding mode controller are presented.
KW - chattering-eliminating
KW - coordinated operation
KW - multi-arm space manipulator
KW - sliding mode controller
UR - https://www.scopus.com/pages/publications/84921318294
U2 - 10.1109/MFI.2014.6997660
DO - 10.1109/MFI.2014.6997660
M3 - 会议稿件
AN - SCOPUS:84921318294
T3 - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
BT - Proceedings of 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 International Conference on Multisensor Fusion and Information Integration for Intelligent Systems, MFI 2014
Y2 - 28 September 2014 through 30 September 2014
ER -