Free-flying dynamics and control of an astronaut assistant robot based on fuzzy sliding mode algorithm

Qing Gao, Jinguo Liu, Tongtong Tian, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

20 Citations (Scopus)


Taking the limited working time and the arduous task of the astronauts in the space station into account, an astronaut assistant robot (AAR-2) applied in the space station is proposed and designed in this paper. The AAR-2 is achieved with some improvements on the basis of AAR-1 which was designed before. It can exploit its position and attitude sensors and control system to free flight or hover in the space cabin. And it also has a definite environmental awareness and artificial intelligence to complete some specified tasks under the control of astronauts or autonomously. In this paper, it mainly analyzes and controls the 6-DOF motion of the AAR-2. Firstly, the system configuration of AAR-2 is specifically described, and the movement principles are analyzed. Secondly, according to the physical model of the AAR-2, the Newton - Euler equation is applied in the preparation of space dynamics model of 6-DOF motion. Then, according to the mathematical model's characteristics which are nonlinear and strong coupling, a dual closed loop position and attitude controller based on fuzzy sliding mode control is proposed and designed. Finally, simulation experiments are appropriate to provide for AAR-2 control system by using Matlab/Simulink. From the simulation results it can be observed that the designed fuzzy sliding mode controller can control the 6-DOF motion of AAR-2 quickly and precisely.
Original languageEnglish
Pages (from-to)462-474
Number of pages13
JournalActa Astronautica
Publication statusPublished - 1 Sep 2017


  • 6-DOF
  • AAR-2
  • Fuzzy sliding mode control
  • Simulation

ASJC Scopus subject areas

  • Aerospace Engineering

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