Post-capture attitude control for a tethered space robot-target combination system

被引：44

作者：

Huang, Panfeng ^{[1
]}

Wang, Dongke

Meng, Zhongjie

Liu, Zhengxiong

机构：

[1] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China

来源：

ROBOTICA | 2015年 / 33卷 / 04期

基金：

中国国家自然科学基金;

关键词：

Tethered space robot; Post-capture; Combination system attitude control; Coordinated control; Switching control; INPLANE PAYLOAD CAPTURE; DYNAMICS; SIMULATION; IMPACT;

D O I：

10.1017/S0263574714000617

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents a novel scheme for achieving attitude control of a tumbling combination system in the post-capture phase of a tethered space robot (TSR). Given the combination rotation characteristics, tether force is applied to provide greater control torques for stabilising the attitude. The proposed control scheme involves two attitude controllers, which coordinate the controller of the tether force and thruster force and the controller of single thruster force. The numerical simulations include a comparison between this coordinated control and the traditional thruster control and a sensitivity analysis on initial values of parameters. Simulation results validate the feasibility of the attitude control scheme for a tumbling combination system, and fuel consumption of the attitude control is efficiently reduced using the coordinated control strategies.

引用

页码：898 / 919

页数：22

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