Research on Attitude Control Algorithm of Flexible Free-Floating Space Robot System

This paper presents an attitude control law based on a sliding mode variable structure for the attitude control problem of a flexible free-floating space robot. The design method of mode control mainly includes two steps: the first step is to design a sliding surface so that the system trajectory can reach the desired state on the sliding surface; in the second step, a controller is designed to make motion track of the system from the initial state to the sliding surface. This method improves the accuracy of flexible free-floating space robots in capturing space targets. Simulation results show that the proposed control law has high accuracy and presents significant stability in the rejection of external disturbance.