Adaptive Sliding Mode Variable Structure Attitude Control for Space Robot

In order to improve the accuracy and stability of the free floating space robots in capturing space targets, an adaptive sliding mode variable structure method is proposed to optimize the attitude control law of the free floating space robot system, in response to the traditional sliding mode variable structure method being unable to eliminate the influence of external interference, symbol function, and model parameter uncertainty on the system. This method dynamically estimates the uncertain moment of inertia and external disturbances, and uses estimated parameters to design the control law, thereby enhancing the performance of the controller. And compared with the traditional sliding mode variable structure control law, the effectiveness and robustness of the proposed method were verified.