Variable Structure Force/Pose Control for In-orbit Auxiliary Docking Operation of Dual-arm Space Robot Based on Fuzzy Logic

doi:10.3901/JME.2025.01.060

Abstract

Abstract: The force/pose control problem of a dual-arm space robot in orbit assisted docking mission is studied. Firstly, the Lagrange method is used to establish the dynamics equation of the closed chain hybrid system after the capture of the target of the dual-arm space robot by combining the momentum conservation theorem, the motion of the closed chain system and the geometric constraints. Based on impedance control theory, the second order linear impedance model and the second order approximate environment model are established. Then, considering the control requirements of fast response for on-orbit missions and high-precision force/pose control for docking operations, a nominal PD controller is designed for the deterministic part of the dual-arm closed-chain system, and a sliding mode variable structure controller is introduced to accurately compensate the uncertain part of the modeling, so as to improve the force/pose control accuracy. Based on the fuzzy control principle, a control scheme with sliding mode surface as fuzzy input and compensation control gain as fuzzy output is adopted to realize the suppression of the inherent buffeting. The control strategy does not depend on the sliding mode surface differential signal, and has reliable structure, high computational efficiency and strong robustness. Finally, the stability of the system is verified by Lyapunov stability determination. Based on Matlab simulation results, it is verified that the control accuracy of the proposed control strategy meet the requirements of on-orbit docking tasks.

Key words: dual-arm space robot, auxiliary docking in orbit, fuzzy variable structure, impedance control

CLC Number:

TP242

LIU Dongbo, CHEN Li. Variable Structure Force/Pose Control for In-orbit Auxiliary Docking Operation of Dual-arm Space Robot Based on Fuzzy Logic[J]. Journal of Mechanical Engineering, 2025, 61(1): 60-70.

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