Adaptive Postcapture Backstepping Control for Tumbling Tethered Space Robot-Target Combination

被引：134

作者：

Huang, Panfeng ^{[1
,2
]}

Wang, Dongke ^{[1
,2
]}

Meng, Zhongjie ^{[1
,2
]}

Zhang, Fan ^{[1
,2
]}

Guo, Jian ^{[3
]}

机构：

[1] Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710072, Peoples R China

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

[3] Delft Univ Technol, Fac Aerosp Engn, NL-2629 HS Delft, Netherlands

来源：

JOURNAL OF GUIDANCE CONTROL AND DYNAMICS | 2016年 / 39卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Backstepping - Adaptive control systems - Stabilization;

D O I：

10.2514/1.G001309

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

A robust adaptive backstepping controller is proposed to achieve stabilization of a tumbling tethered space robot-target combination. The numerical simulations show that the combination can be stabilized by the proposed controller (CRABC). Compared with backstepping control and robust adaptive backstepping control, CRABC has the smallest saturation of the thrusters due to the utilization of the auxiliary design system and the optimal controller. One can observe that the attitude of the combination can be stabilized by BC, RABC, and CRABC. Compared with the other two controllers, with CRABC, the system states converge faster. Moreover, among these three methods, CRABC achieves the best transient performance with the smallest amplitudes and oscillations during the combination attitude stabilization.

引用

页码：150 / 155

页数：6

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