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.0014a.svgz" name="7435217.fig.0014a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Tracking error</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/ijae/volume-2023/7435217/figures/7435217.fig.0014b.svgz" name="7435217.fig.0014b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Joint control torque</td></tr></table>

<div>Simulation results of robust fuzzy sliding mode controller with pulse interference force.</div>

International Journal of Aerospace Engineering

fig14

Figure 14

Figure 14: Dynamic Modelling and Continuous Trajectory Tracking Control of Space Robots Based on Lie Group SE(3) 