In order to improve the success rate of space debris object capture, how to increase the resistance to interference in the space robot arm has become an issue of interest. In addition, since the space operation time is always limited, finite-time control has become another urgent requirement needed to be addressed. Considering external disturbances, two control methods are proposed in this paper to solve the control problem of space robot arm. Firstly, a linear sliding mode control method is proposed considering the model uncertainties and external disturbances. The robot arm can track the desired trajectory, while a trade-off between optimality and robustness of the solved system can be achieved. Then, in order to reduce conservativeness and relax restrictions on external disturbances, a novel backstepping control method based on a finite-time integral sliding mode disturbance observer is developed, which compensates for the effects of both model uncertainties and infinite energy-based disturbance inputs. Finally, simulation examples are given to illustrate the effectiveness of the proposed control method.

中文翻译：

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带滑模微分器的最优自适应控制和反步控制方法

为了提高空间碎片物体捕获的成功率，如何增加空间机械臂的抗干扰能力成为人们关注的问题。此外，由于空间操作时间总是有限的，有限时间控制成为另一个亟待解决的需求。考虑到外部干扰，本文提出了两种控制方法来解决空间机械臂的控制问题。首先，提出了一种考虑模型不确定性和外部扰动的线性滑模控制方法。机器人手臂可以跟踪所需的轨迹，同时可以实现求解系统的最优性和鲁棒性之间的权衡。然后，为了降低保守性，放宽对外界干扰的限制，开发了一种基于有限时间积分滑模干扰观测器的新型反步控制方法，该方法可以补偿模型不确定性和基于能量的无限干扰输入的影响。最后，给出了仿真实例来说明所提出的控制方法的有效性。