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		Baomin FENG,Guangcheng MA,Qiyong WEN,Changhong WANG.[en_title][J].Control Theory and Technology,2008,6(2):146~152.[Copy]

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BaominFENG,GuangchengMA,QiyongWEN,ChanghongWANG
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Received:April 07, 2006Revised:May 21, 2007

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Robust chattering-free sliding mode control of space robot in task space

Baomin FENG, Guangcheng MA, Qiyong WEN, Changhong WANG

(Space Control and Inertia Technology Research Center, Harbin Institute of Technology, Harbin Heilongjiang 150001, China)

Abstract:

This paper studies the tracking control problem of a free-floating space robot in a task space. Considering the model uncertainties and external disturbance, a robust sliding mode controller is proposed using the Lyapunov direct method and dissipative theory. To eliminate the chattering phenomenon, an radial basis function (RBF) neural network is applied to replace the discontinuous part of the control signal. A novel on-line learning method of the weights and parameters of the RBF neural network established using yapunov function assures the stability of the system. It is proved that the proposed controller can guarantee that the L(/sub 2) gain from isturbance to tracking error is lower than the given index γ. Simulation results show that the control method is valid.

Key words: Space robot Tracking control Sliding mode control Neural network