Fixed-time terminal sliding mode control with prescribed performance for space robot
LEI Rong-hua
AI Zhi-peng
FU Xiao-dong
Abstract：A novel low-chattering fixed-time terminal sliding mode control method with prescribed performance is de-signed for rigid space robot subjected to uncertain parameter and external disturbance.The dynamic model of rigid space robot is established by using the Lagrangian method,and the mixed uncertainty term of the system is obtained by combining the model uncertainty term with external disturbance term.In order to ensure the steady-state and transient tracking perfor-mance of the space robot,an error transformation function of the system is constructed based on the tracking error and the fixed-time prescribed performance function.By utilizing the error transformation function,a fixed-time terminal sliding mode surface is designed,and based on which a new type of low-chattering fixed-time terminal sliding mode controller with prescribed performance is proposed.According to the Lyapunov stability theory,it has been proven that the proposed controller can ensure global fixed-time convergence of the tracking error for the space robot,and the convergence time is independent from the initial state of the system.The numerical simulation results verified the effectiveness and superiority of the presented controller.
Keywords：prescribed performancefixed timespace robotuncertain parameterterminal sliding mode control
Publication Date：2025-07-30
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：8( 1453-1460 )