{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,31]],"date-time":"2026-01-31T10:18:37Z","timestamp":1769854717979,"version":"3.49.0"},"reference-count":29,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2019,6,25]],"date-time":"2019-06-25T00:00:00Z","timestamp":1561420800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2020,3]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>A hybrid-trajectory based terminal sliding mode controller (TSMC) is addressed for a free-flying two-flexible-link space manipulator with an elastic base. In this system, there are unknown but bounded external disturbances and parameters. First, the Lagrange dynamic model of the manipulator was established by the momentum conservation. Second, a TSMC based on desired trajectory was proposed, by which the terminal trajectories were asymptotically tracked and periodic flexible vibrations were excited. Then based on virtual control force, hybrid trajectories were generated, in which the flexible variables, the joint angular displacement errors and the base\u2019s attitude error were considered. Finally, a hybrid-trajectory TSMC was presented, by which the terminal trajectories were asymptotically tracked and the flexible vibrations were suppressed.<\/jats:p>","DOI":"10.1017\/s0263574719000857","type":"journal-article","created":{"date-parts":[[2019,6,25]],"date-time":"2019-06-25T09:35:32Z","timestamp":1561455332000},"page":"550-563","source":"Crossref","is-referenced-by-count":18,"title":["Hybrid-Trajectory Based Terminal Sliding Mode Control of a Flexible Space Manipulator with an Elastic Base"],"prefix":"10.1017","volume":"38","author":[{"given":"Xiaoyan","family":"Yu","sequence":"first","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2019,6,25]]},"reference":[{"key":"S0263574719000857_ref28","unstructured":"28. X. Y. Yu and L. Chen , \u201cRobust Motion Control and Vibration Optimal Control for a Free-Flying Flexible Space Manipulator with Elastic Base,\u201d Proceedings of the the 67th International Astronautical Congress, Guadalajala, Mexico (2016)."},{"key":"S0263574719000857_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/21.108300"},{"key":"S0263574719000857_ref25","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2015.0401"},{"key":"S0263574719000857_ref23","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta.2014.0215"},{"key":"S0263574719000857_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2015.2448064"},{"key":"S0263574719000857_ref19","doi-asserted-by":"publisher","DOI":"10.1134\/S1064230714050025"},{"key":"S0263574719000857_ref16","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1109\/37.165517","article-title":"Trajectory control of flexible manipulators on a freeflying space robot,","volume":"12","author":"Murotsu","year":"1992","journal-title":"IEEE Control Syst. 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Vance , \u201cAdaptive Control of Free-Floating Space Robots Using Neural Networks,\u201d Proceedings of the 1995 American Control Conference, Seattle, WA (1995) pp. 2790\u20132794."},{"key":"S0263574719000857_ref8","doi-asserted-by":"publisher","DOI":"10.1163\/1568553042225732"},{"key":"S0263574719000857_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/70.105391"},{"key":"S0263574719000857_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.1987.5005375"},{"key":"S0263574719000857_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(97)00054-7"},{"key":"S0263574719000857_ref26","doi-asserted-by":"publisher","DOI":"10.1007\/s10483-008-0503-1"},{"key":"S0263574719000857_ref2","unstructured":"2. M. Garneau , \u201cSpace in the Service of Society: A Canadian Case Study,\u201d Proceedings of 2nd International Conference on Recent Advances in Space Technologies, Istanbul, Turkey (2005), pp. 1\u20136."},{"key":"S0263574719000857_ref3","unstructured":"3. M. 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