Attitude Decoupling Control of Semifloating Space Robots Using Time-Delay Estimation and Supertwisting Control

Dynamic coupling is an inherent behavior of the space robot system, which seriously affects motion accuracy system. This article focuses on how to guarantee base attitude stability semifloating robots, from a control perspective—namely, decoupling control. The quaternion representation system dynamics derived avoid singularity Euler angles. In consideration complicated and limited computing ability on-board computer, efficient controller designed based time-delay estimation (TDE) supertwisting (STC). Herein, for proposed TDE-based STC (TDE-STC) scheme, TDE used decouple linearize nonlinear dynamics, second-order sliding mode algorithm can compensate error drive state variables converge equilibrium point robustly in finite time. model-free principle clearly illustrated by comparison with classical computed torque global asymptotical analysis closed-loop proven using Lyapunov theory linear matrix inequality theorem. Finally, several comparative simulation studies 3-D joint friction, disturbances, model uncertainties are conducted verify effectiveness TDE-STC scheme. corresponding results show that scheme achieve high-accuracy performance both merits chatter-free merits.