Fuzzy Variable Structure Sliding-mode Control for Space Manipulator to Track Desired Trajectory in Joint Space

In this paper, the kinematics and dynamics of free-floating space manipulator systems are analyzed. By use the method of multibody dynamics, the dynamics equations of spare manipulator are established. Based on the result, the control problem for space manipulator to track the desired trajectory in joint workspace is discussed. Because of the high structure complexity and the parameter uncertainty of space manipulator systems, the scheme of variable structure sliding-mode control with better robustness to uncertainty and disturbance is proposed. Fuzzy controllers are designed at the aim of chattering reduction and rapid response. The fuzzy controllers can tune the sliding control law parameters automatically according to the relationship between system state and switching manifold. The effect of the controller is testified by computer simulation.