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Global fixed-time emergency control of space robot under safety constraints
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Ronghua LEI1, Hailiang HOU2, *, Xiaodong FU3
China Safety Science Journal | 2025, 35(12) : 103 - 110
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China Safety Science Journal | 2025, 35(12): 103-110
• Safety engineering technology •
Global fixed-time emergency control of space robot under safety constraints
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Ronghua LEI1, Hailiang HOU2, *, Xiaodong FU3
Affiliations
  • 1School of Computer Science, Hunan University of Technology and Business, Changsha Hunan 410205, China
  • 2Xiangjiang Laboratory, Changsha Hunan 410200, China
  • 3School of Aerospace Engineering, Tsinghua University, Beijing 100084, China
Published: 2025-12-28 doi: 10.16265/j.cnki.issn1003-3033.2025.12.1506
Outline
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In order to solve the safety constraint problem of uncertain space robot (USR) with time constraints and output constraints, a second-order sliding mode global fixed-time emergency control method was adopted. The dynamic model of the uncertain space robot was established by applying the momentum conservation theorem and Lagrangian method. To achieve the safety output goal, an obstacle Lyapunov function was introduced to limit the system error within the preset range. Based on this, the upper bound of the system's uncertain terms was estimated, and the system's time constraints were further considered. By using the power summation integration technique, a second-order sliding mode global fixed-time emergency controller was constructed. The results show that root-mean-square error (RMSE) of the proposed method is 55.71% and 56.45% lower than that of the terminal sliding mode fixed-time controller without output constraints in Case 1 and Case 2 respectively, and it can ensure that the outputs of the USR system are strictly limited within the preset safety boundary, indicating the superiority of the tracking performance of the designed control method.

safety constraint  /  uncertain space robot(USR)  /  second-order sliding mode  /  fixed time  /  emergency control  /  output constraint
Ronghua LEI, Hailiang HOU, Xiaodong FU. Global fixed-time emergency control of space robot under safety constraints[J]. China Safety Science Journal, 2025 , 35 (12) : 103 -110 . DOI: 10.16265/j.cnki.issn1003-3033.2025.12.1506
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Year 2025 volume 35 Issue 12
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Article Info
doi: 10.16265/j.cnki.issn1003-3033.2025.12.1506
  • Receive Date：2025-08-16
  • Online Date：2026-07-09
  • Published：2025-12-28
Article Data
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History
  • Received：2025-08-16
  • Revised：2025-10-21
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Affiliations
    1School of Computer Science, Hunan University of Technology and Business, Changsha Hunan 410205, China
    2Xiangjiang Laboratory, Changsha Hunan 410200, China
    3School of Aerospace Engineering, Tsinghua University, Beijing 100084, China
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多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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