Fuzzy Sliding Mode Controller Based Trajectory Tracking Control of Free Flying Space Robot Manipulator System

A free flying space robot manipulator system (FFSRMS) is made up of a six degrees of freedom (DOF) spacecraft and n degree of freedom manipulator mounted on the base spacecraft. The space robot manipulator is used to perform a variety of tasks in space or on orbit service (OOS), such as assembling and repairing spacecraft, refueling satellites in orbit, and removing space debris. Unlike ground-based robot manipulators, a space robot manipulator has no fixed base. As a result, the base and manipulator are strongly coupled. Furthermore, the system operates in unstructured and zero gravity environment. The kinematics and dynamics of a FFSRMS has been developed based on chaseles theorem and Euler-Lagrangian equation of motion respectively. The stability of the system and the convergence of the tracking errors to the origin has been checked using Lyapunov stability criterion. This work used a fuzzy sliding mode controller (FSMC) to examine a space robot manipulator trajectory tracking control capability in joint space and robustness. The proposed controller has been simulated in MATLAB/Simulink considering external disturbance and parametric variation and compared with the sliding mode controller to evaluate how effective it is. The results reveal that the proposed controller is robust and has good trajectory tracking capability with a reduced Integral Time Absolute Error (ITAE) and it eliminate the chattering effect. The comparative study shows that FSMC has reduced ITAE than SMC.