Home Journals Articles Updates About
CN
image
收藏切换
Global fixed-time emergency control of space robot under safety constraints
收藏切换
PDF
Ronghua LEI1, Hailiang HOU2, *, Xiaodong FU3
China Safety Science Journal | 2025, 35(12) : 103 - 110
Less
收藏切换
China Safety Science Journal | 2025, 35(12): 103-110
• Safety engineering technology •
Global fixed-time emergency control of space robot under safety constraints
Full
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
收藏切换

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
Appendix
Less
Year 2025 volume 35 Issue 12
PDF
48
5
Cite this Article
BibTeX
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
Affiliations
History
  • Received：2025-08-16
  • Revised：2025-10-21
Funding
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
References
Share
https://castjournals.cast.org.cn/joweb/zgaqkxxb/EN/10.16265/j.cnki.issn1003-3033.2025.12.1506
Share to
QR

Scan QR to access full text

Cite this article
BibTeX
Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
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
关闭全屏
  • BibTeX
  • EndNote
  • RefWorks
  • TxT
Links
Articles
Latest Articles
Most Read
Collections
Updates
Events
News
Multimedia
About
About Us
Contact
No. 86 Xueyuan South Road, Haidian District, Beijing
100081
010-62199257
qkjq@cast.org.cn

Copyright © 2025 China Association for Science and Technology. All rights reserved. For all open access content, the relevant licensing terms apply.
Sponsored by the Office of the Leading Group for Cybersecurity and Informatization of CAST, and supported by Science and Technology Review Publishing House