{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,14]],"date-time":"2026-07-14T14:22:48Z","timestamp":1784038968568,"version":"3.55.0"},"reference-count":31,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2022,10,10]],"date-time":"2022-10-10T00:00:00Z","timestamp":1665360000000},"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":[[2023,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In the control of space robots, flexible vibrations exist in the base, links and joints. When building a motion control scheme, the following three aspects should be considered: (1) the complexity in dynamic modeling; (2) the low accuracy of motion control and (3) the simultaneous suppression of multiple flexible vibrations. In this paper, we propose a motion vibration integrated saturation control scheme. First, the dynamic model of space robot with flexible-base, flexible-link and flexible-joint is established according to the assumed modes method and Lagrange equation. Second, singular perturbation theory is used to decompose the model into two subsystems: a slow subsystem containing the rigid motions of base and joints as well as the vibration of links, and a fast subsystem containing vibrations of base and joints. Third, an integrated sliding mode control with input restriction, output feedback and repetitive learning (ISMC-IOR) is designed, which can track the desired trajectories of base and joints with \u22123 orders of magnitude accuracy, while suppressing the multiple flexible vibrations of base, links and joints 50%\u201380% and 37% performance improvement over ISMC-IOR-NV were achieved. Finally, the algorithm is verified by simulations.<\/jats:p>","DOI":"10.1017\/s0263574722001369","type":"journal-article","created":{"date-parts":[[2022,10,10]],"date-time":"2022-10-10T01:38:46Z","timestamp":1665365926000},"page":"370-391","source":"Crossref","is-referenced-by-count":16,"title":["Integrated sliding mode control with input restriction, output feedback and repetitive learning for space robot with flexible-base, flexible-link and flexible-joint"],"prefix":"10.1017","volume":"41","author":[{"given":"Xiaodong","family":"Fu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5363-2747","authenticated-orcid":false,"given":"Haiping","family":"Ai","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2022,10,10]]},"reference":[{"key":"S0263574722001369_ref11","doi-asserted-by":"crossref","unstructured":"[11] Beck, F. , Garofalo, G. and Ott, C. , \u201cVibration Control for Manipulators on a Translationally Flexible Base,\u201d In: Proceedings-IEEE International Conference on Robotics and Automation (2019) pp. 4451\u20134457.","DOI":"10.1109\/ICRA.2019.8793904"},{"key":"S0263574722001369_ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719000857"},{"key":"S0263574722001369_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2019.2946103"},{"key":"S0263574722001369_ref22","doi-asserted-by":"crossref","first-page":"1541","DOI":"10.1016\/j.asr.2018.11.004","article-title":"Robust fault-tolerant saturated control for spacecraft proximity operations with actuator saturation and faults","volume":"63","author":"Q.","year":"2019","journal-title":"Adv. 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(Switzerland)"},{"key":"S0263574722001369_ref19","first-page":"1","article-title":"Flattening the curve of flexible space robotics","volume":"12","author":"Sands","year":"2022","journal-title":"Appl. Sci. 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