Impedance control of space robot based on adaptive terminal sliding mode trajectory tracking

Abstract

The adaptive gain non-singular terminal sliding mode impedance controller is proposed for the space target capture and the operation problem to achieve the attitude stability of the base and the stable tracking of the end-effector trajectory as well as the flexibility of the target contact in the mission. Based on the Lagrange method, considering the space robot dynamics uncertainty and the system perturbation, the rigid-body dynamics model of the space robot is established. the active control mode of the base attitude of the space robot is taken into account, and the adaptive sliding mode gain is used to overcome the uncertainty of the system to achieve a good trajectory tracking effect, while the impedance control is used to make the end-effector have the compliance. The numerical simulation results show that the designed controller has superior trajectory tracking error convergence speed and flexibility characteristics.