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Dual power non-singular fast terminal sliding mode fault-tolerant vibration-attenuation control of the flexible space robot subjected to actuator faults

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Abstract

The dynamics modeling and the fast fault-tolerant vibration-attenuation control of the elastic-base flexible-arm space robot with actuator gain fault and deviation fault are investigated. According to the linear spring theory, assumed mode method and the second Lagrange equation, the dynamical model of the elastic-base flexible-arm space robot is constructed. A finite-time fault-tolerant control scheme is designed for the system by combining the dual-power non-singular fast terminal sliding mode (DNFTSM) with the dual-power fast approaching law, and the stability of the closed-loop system is proven by using Lyapunov function method. Then the hybrid trajectory is introduced to renew the fault-tolerant controller, and a DNFTSM finite-time fault-tolerant vibration-attenuation control method on the base of the virtual control input is formulated. The novelty of the proposed control technique lies in realizing the trajectory tracking of the spacecraft attitude and the manipulator joints and eliminating the linear deformation of the elastic base and the nonlinear vibration of the flexible arm through only one controller in a short period of time. The simulation results reveal that compared with the conventional computed-torque vibration-attenuation control method, the error convergence rate of the designed method has increased by 75% and the amplitude of the elastic base is reduced by two orders of magnitude, which can be limited within 4.0 × 10–6 m. Hence, the effectiveness and feasibility of the presented control strategy are verified.

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Funding

This work is supported by the National Natural Science Foundation of China under Grant nos. 51741502 and 11372073. Furthermore, this work is also supported by the Excellent Youth Science Fund Project of Department of education of Hunan Province under Grant no. 21B0562 and the Natural Science Foundation of Hunan Province under the Grant no. 2023JJ40231.

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Authors and Affiliations

  1. School of Computer, Hunan University of Technology and Business, Changsha, 410205, China

    Ronghua Lei

  2. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350116, China

    Li Chen

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  1. Ronghua Lei
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  2. Li Chen
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Correspondence to Ronghua Lei.

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Lei, R., Chen, L. Dual power non-singular fast terminal sliding mode fault-tolerant vibration-attenuation control of the flexible space robot subjected to actuator faults. Acta Mech 235, 1255–1269 (2024). https://doi.org/10.1007/s00707-023-03796-9

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  • DOI: https://doi.org/10.1007/s00707-023-03796-9

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