Adaptive anti-windup control of post-capture combination via tethered space robot

被引：9
作者：
Lu, Yingbo [1 ,2 ]
Huang, Panfeng [1 ,2 ]
Meng, Zhongjie [1 ,2 ]
机构：
[1] Northwestern Polytech Univ, Sch Astronaut, Res Ctr Intelligent Robot, Xian 710072, Shaanxi, Peoples R China
[2] Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Shaanxi, Peoples R China
来源：
ADVANCES IN SPACE RESEARCH | 2019年 / 64卷 / 04期
基金：
中国国家自然科学基金;
关键词：
Tethered space robot; Dynamic uncertainty; Control input saturation; Adaptive anti-windup; Post-capture combination; NONLINEAR-SYSTEMS; ATTITUDE-CONTROL; TENSION CONTROL; SATELLITE; DEBRIS; DEPLOYMENT; REMOVAL; ROBUST; SWAY;
D O I：
10.1016/j.asr.2019.05.029
中图分类号：
V [航空、航天];
学科分类号：
08 ; 0825 ;
摘要：
Stabilization control is an essential mission for the tethered space robot-target combination during the post-capture phase of tethered space robot (TSR). With the consideration of the space tether and the three dimensional attitude of the post-capture combination, dynamic model of the combination is derived by using Lagrange method. Considering the unknown dynamic parameters (the tether attachment point, unknown target inertia parameters) of the post-capture combination, an adaptive anti-windup control approach is presented to overcome the problem of dynamic uncertainty and control input saturation. Complete stability and performance analyses are presented and illustrative simulation results of application to the post-capture combination system verify the effectiveness of the proposed algorithm. (C) 2019 COSPAR. Published by Elsevier Ltd. All rights reserved.
引用
收藏
页码：847 / 860
页数：14
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