Quaternion-based non-singular terminal sliding mode control for a satellite-mounted space manipulator

نویسندگان

چکیده

In this paper, a robust control solution for satellite equipped with robotic manipulator is presented. First, the dynamical model of system derived based on quaternions to describe evolution attitude base satellite. Then, non-singular terminal sliding mode controller that employs control, proposed concurrently handling all degrees freedom system. Moreover, an additional adaptive term embedded in estimate upper bounds disturbances and uncertainties. The result resilient able withstand unmodelled dynamics interactions. Lyapunov theory used prove stability numerical simulations allow assessing performance fuel efficiency.

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ژورنال

عنوان ژورنال: IEEE Control Systems Letters

سال: 2023

ISSN: ['2475-1456']

DOI: https://doi.org/10.1109/lcsys.2023.3288260