Integrated guidance and control for underactuated space manipulator whole-body transfer operations

被引：0
作者：
Wang, Mingchao [1 ]
Zong, Lijun [2 ]
Yuan, Jianping [1 ]
机构：
[1] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian, Peoples R China
[2] Northwestern Polytech Univ, Key Lab Aircraft High Performance Assembly, Minist Ind & Informat Technol, Xian, Peoples R China
来源：
AEROSPACE SCIENCE AND TECHNOLOGY | 2025年 / 159卷
关键词：
Dual-arm space manipulator; Model predictive control; Obstacle avoidance; Optimal control; NEAR-OPTIMAL GUIDANCE; SATELLITE; DOCKING;
D O I：
10.1016/j.ast.2025.109979
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
This paper proposes an integrated guidance and control method for an underactuated dual-arm space manipulator to transfer to the target position near the Space Station (SS) and subsequently unfold its robotic arms for operations. Considering the dynamic coupling between the position and attitude of the underactuated base spacecraft, the integrated method comprises two layers: a model predictive controller (MPC)-based guidance layer and a sliding mode control (SMC)-based coordinated controller layer. The MPC calculates ideal driving force vectors that can transfer the entire system to the target position while minimizing fuel consumption and satisfying obstacle avoidance and thrust limit constraints. The resulting force vectors serve as guidance for base attitude control. The base and arm coordinated controller, designed based on the dynamic equations of the dual- arm space manipulator system, drives the robotic arms to their desired configurations while regulating the base attitude to align the nozzle direction with the ideal driving force vectors. This enables the nozzle to provide sufficient thrust to transfer the dual-arm space manipulator system to the target position. A physical simulation system is developed for the dual-arm space manipulator transfer system. Numerical simulations are conducted to verify the applicability and effectiveness of the proposed integrated guidance and control method.
引用
收藏
页数：13
相关论文
共 36 条
  • [21] Zong L., Luo J., Wang M., Optimal concurrent control for space manipulators rendezvous and capturing targets under actuator saturation, IEEE Trans. Aerosp. Electron. Syst., 56, 6, pp. 4841-4855, (2020)
  • [22] Zhang O., Yao W., Du D., Wu C., Liu J., Wu L., Sun Y., Trajectory optimization and tracking control of free-flying space robots for capturing non-cooperative tumbling objects, Aerosp. Sci. Technol., 143, (2023)
  • [23] Yoshimura Y., Matsuno T., Hokamoto S., Position and attitude control of an underactuated satellite with constant thrust, AIAA Guidance, Navigation, and Control Conference, 6352, (2011)
  • [24] Alessandretti A., Aguiar A.P., Jones C.N., Trajectory-tracking and path-following controllers for constrained underactuated vehicles using model predictive control, European Control Conference, ECC, pp. 1371-1376, (2013)
  • [25] Kobilarov M., Pellegrino S., Trajectory planning for cubesat short-time-scale proximity operations, J. Guid. Control Dyn., 37, 2, pp. 566-579, (2014)
  • [26] Hakima H., Emami M.R., Concurrent attitude and orbit control for deorbiter CubeSats, Aerosp. Sci. Technol., 97, (2020)
  • [27] Zong L., Emami M., Luo J., Reactionless control of free-floating space manipulators, IEEE Trans. Aerosp. Electron. Syst., 56, 2, pp. 1490-1503, (2019)
  • [28] Zhou H., Dang Z., Zhang Y., Yuan J., Collision-free control of a nano satellite in the vicinity of China Space Station using Lorentz augmented composite artificial potential field, Acta Astronaut., 203, pp. 88-102, (2023)
  • [29] ApS M., Mosek optimization toolbox for Matlab, (2019)
  • [30] Dam E.B., Koch M., Lillholm M., Quaternions, Interpolation and Animation, vol. 2, (1998)
1234