Target berthing and base reorientation of free-floating space robotic system after capturing

2014 4th IEEE International Conference on Information Science and Technology

Cai

2014

The problem of detumbling a tethered space robot-target combination system after the target is captured by the tethered space robot (TSR) is studied in this paper. Firstly, the dynamic model of the combination system is established. In order to stabilize the combination, the space tether is utilized to control the attitude. The configuration of the manipulator is designed to change the control torques provided by the space tether so as to achieve a better control performance. The solution of the optimal control which coordinates the tether tension, thruster control torque of the gripper and the manipulator is solved by Gauss pseudospectral method. The numerical simulation result shows attitude of the combination system can be controlled by the coordinated control method.

Section: Introductionmentioning

confidence: 99%

Detumbling a tethered space robot-target combination using optimal control

2014 4th IEEE International Conference on Information Science and Technology

Cai

2014

“…Aghili [12] focused on controlling the space manipulator in the postcapture phase to bring a tumbling satellite to rest. Xu et al [13] proposed a method for berthing a target and reorientating the base using manipulator motion only after the capture.…”

Section: Introductionmentioning

confidence: 99%

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

Journal of Guidance, Control, and Dynamics

Meng

et al. 2016

137

Nomenclature a = positive parameter a tx a ty a tz T = linear acceleration due to the tether tension, m · s −2 a x a y a z T = linear acceleration of the gripper's thruster force, m · s −2 Ck = matrix in coordinated desaturation controller d = position vector of the capture position, m F l = tether tension, N I = inertia matrix of the combination, kg · m 2 I 0 = nominal value of combination's inertia matrix, kg · m 2 K ξ = positive-definite design matrix k 2 = positive-definite design matrix m = mass of tethered space robot-target combination, kg Ox l y l z l = space tether frame Ox p y p z p = space platform orbital frame Ox t y t z t = combination orbital frame Ox 0 t y 0 t z 0 t = combination body frame P = positive-definite design matrix R = transformation matrix from platform orbital frame to combination body frame Sk = constant positive weighting matrix T l = tether control torque, Nm x y z T = centroid position of the combination in the platform orbital frame, m ΔI = inertia matrix uncertainty, kg · m 2 ε = positive parameter λk = Lagrange multiplier λ L = upper bound of disturbancê λ L = estimation values of disturbance μ = positive design parameter ξ = state of the auxiliary design system σ = modified Rodrigues parameters σ d = desired modified Rodrigues parameters τk = vector of optimal thruster force and tether tension τ c = control torque of the combination, N · m τ d = disturbing torques, N · m τ t = control torque of the thruster, N · m τ l = control torque of the tether, N · m ω = absolute angular velocity of the combination, rad · s −1 ω d = desired angular velocity of the combination, rad · s −1

“…Liang [39] addresses an adaptive control approach, which can be used to assist the control of a servicing satellite to rendezvous and dock with a tumbling satellite whose dynamics model is unknown. Xu [40] proposed a method for berthing a target and reorientating the base using manipulator motion only after the capture. A coordination control for a combined system of the space robot and the target satellite is developed so that the robot tracks the optimal path while regulating the attitude of the chase vehicle to a desired value in the literature [41].…”

Section: Introductionmentioning

confidence: 99%

Coordinated stabilization of tumbling targets using tethered space manipulators

IEEE Trans. Aerosp. Electron. Syst.

Meng

2015

Tethered space robots (TSR) have wide application prospects in future on-orbit missions such as debris removal. However, it's rather complex and difficult for TSR to realize stabilization of tumbling combinations after target capture. Therefore, this paper addresses a novel control scheme for achieving attitude stabilization by coordination of the tethered space manipulator (TSM), the tether itself, and thrusters accommodated on the base of the TSM. Simulation results validate the feasibility of the attitude control scheme in the postcapture phase.