Research on sliding mode adaptive fuzzy control strategy for trajectory tracking of dual-arm space robot under uncertain conditions

Abstract This paper proposes an adaptive fuzzy compensation controller based on a sliding mode variable structure for the trajectory tracking control of a dual-arm space robot (DFFSR) under uncertain conditions. The controller integrates the rapid response and robust characteristics of sliding mode control with the universal approximation capabilities of fuzzy systems to compensate for system uncertainties. To address the uncertainties in system inertia parameters and external disturbances, an adaptive fuzzy compensation controller is introduced to mitigate the chattering issue caused by these uncertainties. The stability of the proposed system is verified through the Lyapunov method, and its effectiveness is demonstrated via simulation analysis. The results indicate that the proposed control method achieves high-precision trajectory tracking control, which holds significant engineering implications for the practical deployment of dual-arm space robots.