Adaptive Integral Sliding Mode Control for Flexible Joint Space Manipulators

Adaptive Integral Sliding Mode Control for Flexible Joint Space Manipulators

ObjectiveAccurate trajectory tracking control is critical for space robotic arms to perform on-orbit service missions. However, nonlinear joint friction and external load disturbances in complex space environments lead to significant degradation of the tracking performance of flexible joint space ma...

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Bibliographic Details
Main Authors: QIAO Bing, HUANG Shuai-ming, HUANG Zu-yan
Format: Article
Language:English
Published: Editorial Department of Journal of Sichuan University (Engineering Science Edition) 2025-01-01
Series:工程科学与技术
Subjects:
Adaptive integral sliding mode controller
Flexible joint
Singular perturbation
States observers
Joint friction
Online Access:http://jsuese.scu.edu.cn/thesisDetails#10.12454/j.jsuese.202400882
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