Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3)

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2023/7435217/figures/7435217.fig.0011a.svgz" name="7435217.fig.0011a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Robust sliding mode controller</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2023/7435217/figures/7435217.fig.0011b.svgz" name="7435217.fig.0011b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Robust fuzzy sliding mode controller</td></tr></table>

<div>Comparison of joint control torque of the two control algorithms.</div>

International Journal of Aerospace Engineering

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Figure 11

Figure 11: Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3) 