Time-optimal coordinated detumbling and pose adjusting control of a non-cooperative target with model uncertainties

In this paper, a novel post-capture takeover control strategy of non-cooperative target with model uncertainties by the dual-arm space manipulator is proposed. Two mission objectives of target detumbling and pose adjusting are comprehensively considered. First, the motion trajectory of the target is parameterized with normalized time by a Bezier shape-based function. On this basis, by considering the resultant external force and moment constraint and the model uncertainties of the target, the mission duration is optimized to obtain the time optimal detumbling and pose adjusting the trajectory of the target. Furthermore, the desired trajectory in manipulator joint space is obtained by introducing the arm angle inverse kinematics method, and a joint trajectory tracking controller is designed based on the feedback linearization theory to track the desired joint trajectory. Simulation results show that detumbling and pose adjusting can be simultaneously achieved by one control action, which verifies the effectiveness of the proposed integrated control strategy.