Two Power Sliding Mode Neural Network Compensation Control for Space Robot after Target Capturing

Authors

Cheng Jing, Fujian Provincial Collaborative Innovation Center of High-EndEquipment Manufacturing, School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China;
Chen Li, Fujian Provincial Collaborative Innovation Center of High-EndEquipment Manufacturing, School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350116, China;

Abstract

Abstract: The impact analyses of space robot capturing a target and stability control problem in the post-impact process were discussed. The dynamic models of space robot system and target were derived by multi-body theory. The impact effect of rigidcouplingmodel was analyzed by applying geometric relationship and principle of momentum conservation. Atwo power sliding mode neural network control scheme was proposed for the combined system after acquiring with uncertain system parameters and external disturbance. The convergence speed of the control system was guaranteed by applyingtwo power sliding mode reaching raw, and the uncertain part was compensated by using neural network. The proposed control scheme can eliminate the chattering. Based on the Lyapunov method, the weights adaptive law was designed and the stability of the combined system was demonstrated. Computer numerical simulation example simulated the process of collision impact effect and verified the validity of the proposed control scheme.

Recommended Citation

Jing, Cheng and Li, Chen (2020) "Two Power Sliding Mode Neural Network Compensation Control for Space Robot after Target Capturing," Journal of System Simulation: Vol. 29: Iss. 10, Article 31.
DOI: 10.16182/j.issn1004731x.joss.201710031
Available at: https://dc-china-simulation.researchcommons.org/journal/vol29/iss10/31

First Page

2475

DOI Link

https://doi.org/10.16182/j.issn1004731x.joss.201710031

Last Page

2482

CLC

TP241

Recommended Citation

Cheng Jing, Chen Li. Two Power Sliding Mode Neural Network Compensation Control for Space Robot after Target Capturing[J]. Journal of System Simulation, 2017, 29(10): 2475-2482.

DOI

10.16182/j.issn1004731x.joss.201710031