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《Chinese Quarterly of Mechanics》 2008-03
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Fuzzy Variable Structure Sliding-mode Control for Dual-arm Coordinated Space Robot in Workspace

CHEN Zhi-huang CHEN Li (College of Mechanical Engineering,Fuzhou University,Fuzhou 350002,China)  
A kind of nonlinear dynamic model of dual-arm free-floating space robot systems was presented by using Lagrange method.Based on the result,the control problem for coordinated space manipulator to track the desired trajectory in workspace was discussed.Because of the high structure complexity and the parameter uncertainty of space manipulator systems,the scheme of variable structure sliding-mode control with better robustness to uncertainty and disturbance was proposed.Fuzzy controllers were designed at the aim of chattering reduction and rapid response.The fuzzy controllers can tune the sliding control law parameters automatically according to the relationship between system state and switching manifold.The effect of the controller was testified by computer simulation.
【Fund】: 国家自然基金项目(10372022、10672040);; 福建省自然科学基金项目(E0410008)
【CateGory Index】: TP242
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