Predetermined time tracking control method for free floating space manipulator system

By establishing a dynamic model, designing a nonlinear disturbance observer and a nonsingular predetermined time sliding mode controller, the stability and robustness issues of a free-floating space manipulator system under model uncertainty and external disturbances were solved, achieving high-precision trajectory tracking control.

CN122353583APending Publication Date: 2026-07-10HARBIN INST OF TECH +1
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Patent Information

Application Number
CN202610526671.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-04-21
Publication Date
2026-07-10

AI Technical Summary

Technical Problem

Free-floating space robotic arm systems exhibit poor stability and low robustness when faced with model uncertainties and external disturbances, making it difficult to achieve high-precision trajectory tracking control.

Method used

A dynamic model in free-floating mode is established, a nonlinear disturbance observer based on predetermined time convergence and piecewise continuous sliding mode variables are designed, and a non-singular predetermined time sliding mode controller is constructed for trajectory tracking control.

Benefits of technology

The robustness and stability of the space robotic arm system in free-floating mode were improved, high-precision trajectory tracking was achieved within a preset time range, the complexity of controller design was reduced, and dynamic and steady-state performance was improved.

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Abstract

The invention discloses a predetermined time tracking control method for a free floating space manipulator system, and relates to the technical field of trajectory tracking control of manipulator systems. The method aims at solving the problems that in a free floating mode, a space manipulator system is poor in stability and low in robustness when facing model uncertainty and external disturbance. The method comprises the following steps: establishing a dynamic model of the space manipulator in a free floating mode; designing a nonlinear disturbance observer based on preset time convergence; constructing segmented continuous sliding mode variables according to the kinetic model; and according to the dynamic model, the nonlinear disturbance observer and the segmented continuous sliding mode variables, a non-singular predetermined time sliding mode controller is constructed, and predetermined time trajectory tracking control is conducted on the free floating space manipulator system through the non-singular predetermined time sliding mode controller.
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