Reel-Based Tension Control of Tethered Space Robots

被引：9
|
作者：
Wang, Bingheng [1 ]
Meng, Zhongjie [2 ,3 ]
Jia, Cheng [2 ,3 ]
Huang, Panfeng [2 ,3 ]
机构：
[1] Southern Univ Sci & Technol, Dept Mech & Energy Engn, Inst Robot, Shenzhen 518055, Peoples R China
[2] Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Peoples R China
[3] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China
来源：
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS | 2020年 / 56卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Orbits; Space vehicles; Aerospace electronics; Collision avoidance; Robot sensing systems; Estimation; Active debris removal; model predictive control; system estimation; tension control; tethered space robot; DEBRIS; DESIGN;
D O I：
10.1109/TAES.2019.2958156
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
This article elaborates on the tension control design of tethered space robots for debris removal. The novel approach is to change the tether natural length via a reel. With only the tension sensing, we leverage a Kalman filter and a recursive least-squares algorithm to estimate the actual length and the debris mass, which are fed back to a model-predictive controller to generate the optimal tangential velocity of the reel. Simulations show that the stiff tether exhibits better tension-tracking performance which is robust to the tumbling debris.
引用
收藏
页码：3028 / 3043
页数：16
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