Research on the Operation of the Capture Task in Microgravity Environment
- Resource Type
- Conference
- Authors
- Fan, Chunguang; Xie, Zongwu; Li, Zhiqi; Liu, Yiwei; Li, Chongyang; Liu, Hong
- Source
- 2018 IEEE International Conference on Real-time Computing and Robotics (RCAR) Real-time Computing and Robotics (RCAR), 2018 IEEE International Conference on. :124-129 Aug, 2018
- Subject
- Computing and Processing
Robotics and Control Systems
Signal Processing and Analysis
Manipulators
Aerospace electronics
PD control
Logistics
Sliding mode control
Gravity
- Language
This paper focuses on the variation of gravity compensation and unloading of TG2 manipulator in the space experiment. A novel sliding mode controller based on reaching law improved is proposed to control the manipulator. The Logistic function is introduced to design the reaching law, the asymptotic stabilization property of the closed-loop system is achieved by Lyapunov theory. The experimental result indicates the proposed controller has been enhanced the degree of automation of control system while guaranteeing the closed-loop system's robustness. To demonstrate the effectiveness of the proposed controller, two contrast experiments have been conducted on the TG2 manipulator on the ground and air-floating platform respectively.