Extended State Observer Based Fully Actuated Sliding Mode Trajectory Tracking Control of Space Manipulator

In this paper, a sliding mode control (SMC) strategy based on fully actuated system (FAS) theoretical is proposed for space manipulator with model uncertainty and external disturbance. Based on the parametric method of the FAS model, the space manipulator system is transformed into a closed-loop system with arbitrarily configured feature structure. Combined with the SMC, the trajectory tracking problem of the space manipulator system is solved. Aiming at the unknown disturbance in the robot system, an extended state observer (ESO) is designed to quickly compensate the control signal and improve the control accuracy and robustness of the robot system. The stability of the system is proved by Lyapunov method. Finally, the effectiveness of the designed control strategy is verified by numerical simulation.