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This article is concerned with the collaborative manipulation of a structure module using multiple space robots under event-triggered communication. Unit quaternions and position vectors are employed to formulate the 6 degrees-of-freedom(6-DoF) motion of the robotic system, and the coupled dynamics of the system are further achieved in the task space according to Newton-Euler and Lagrange equations. After constructing the tracking error representation, we present an event-triggered sliding mode control (SMC) strategy for the space robots such that the module can be actuated to track the required trajectory and the communication resources can be saved at the same time. Finally, numerical studies are performed to demonstrate the efficacy of the proposed control scheme.

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Event-Triggered Sliding Mode Control of Collaborative Space Robots for In-Space Assembly

  • 会议论文

  • 发表日期：

    2025年

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  • Le Zhang,
  • Shidong Xu,
  • Hao Wen

摘要

This article is concerned with the collaborative manipulation of a structure module using multiple space robots under event-triggered communication. Unit quaternions and position vectors are employed to formulate the 6 degrees-of-freedom(6-DoF) motion of the robotic system, and the coupled dynamics of the system are further achieved in the task space according to Newton-Euler and Lagrange equations. After constructing the tracking error representation, we present an event-triggered sliding mode control (SMC) strategy for the space robots such that the module can be actuated to track the required trajectory and the communication resources can be saved at the same time. Finally, numerical studies are performed to demonstrate the efficacy of the proposed control scheme.