TDE-Based Adaptive Integral Sliding Mode Control of Space Manipulator for Space-Debris Active Removal

Abstract

The safe and dependable removal of large-scale space debris has been a long-standing challenge that is critical to the safety of spacecraft and astronauts. In the process of capturing and deorbiting space debris, the space manipulator must achieve extremely high control and precision. However, strong couplings, model uncertainties, and various inevitable unknown disturbances cause many difficulties in coordinated control of the space manipulator. To solve this challenge, this study examines the stabilization control of a space manipulator after capturing non-cooperative large-scale space debris and presents an adaptive integral sliding mode control (AISMC) scheme with time-delay estimation (TDE). The coupling term and lumped uncertainty are estimated by TDE technology, which eliminates the requirement of prior knowledge. Adaptive sliding mode control (ASMC) is used as desired injecting dynamics to compensate TDE errors, and a PID-type integral sliding mode surface is designed to reduce steady-state errors. The Lyapunov criterion is used to prove the global stability of the controller. Simulation results show that the controller has high tracking accuracy and strong robustness.