A team of researchers from the Changchun Institute of Optics, Fine Mechanics, and Physics, Chinese Academy of Sciences, has made significant progress in developing an adaptive fuzzy integral sliding mode cooperative control system based on time-delay estimation for free-floating close-chain manipulators. Published in the journal Sensors, this innovative control method promises to improve the precision and stability of space manipulators, crucial for on-orbit service (OOS) missions like assembly, repair, and maintenance of large space structures.

In recent years, space manipulators have become an important tool for on-orbit service. The ability to perform precise trajectory tracking and internal force control is crucial for successful space missions. This paper proposes an adaptive fuzzy integral sliding mode controller based on time-delay estimation for free-floating close-chain manipulators.

The proposed controller shows several advantages. First, it can effectively track the desired trajectory by using the integral sliding mode surface. Second, the adaptive fuzzy logic system is able to compensate for the delay estimation error and mitigate the chattering effect. Third, the PI controller is able to control the internal force between the manipulators.

The simulation results demonstrate that the proposed controller can achieve high tracking accuracy and disturbance resistance ability. Even when faced with model uncertainties, frictions, and disturbances, the controller is still able to effectively mitigate the chattering effect and achieve small tracking errors. This indicates that the controller has good robustness and compensation ability.

In conclusion, the adaptive fuzzy integral sliding mode controller based on time-delay estimation proposed in this paper shows good performance for free-floating close-chain manipulators. It is expected to be useful for future space missions.