TDE-Based Adaptive Integral Sliding Mode Control of Space Manipulator for Space-Debris Active Removal

Zhang, Zhibin; Li, Xinhong; Wang, Xun; Zhou, Xin; An, Jiping; Li, Yanyan

doi:10.3390/aerospace9020105

Cited by 8 publications

(4 citation statements)

References 38 publications

(52 reference statements)

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“…Substituting Equation (7) into Equation (10), the controlled components of the spacecraft magnetic moment m are given by…”

Section: -10-11 Directional Energy Storage Mechanismmentioning

confidence: 99%

“…An active removal mission for the large SD usually includes two main steps: a capturing step for the servicer spacecraft to rendezvous with a targeted SD and capture it, and a deorbiting step for the captured SD to lower its orbital altitude constantly by propulsion technologies (i.e., an amount delta-V, symbolized as ∆V) and finally remove it to reentry into the Earth's atmosphere [7,8]. For the capturing step, many contact capturing techniques have been proposed in the past decade [9,10], several of which have been applied or demonstrated in on-orbit flight experiments, such as robotic arms [11], nets and harpoons [12,13].…”

Section: Introductionmentioning

confidence: 99%

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Theoretical and Experimental Investigation of Geomagnetic Energy Effect for LEO Debris Deorbiting

Feng

Zhang

et al. 2022

Aerospace

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Space debris is increasingly problematic and needs active removal, especially in low Earth orbits (LEO). Paying for the vast cost of the disposal of debris from the situation is still inevitable even though pivotal technical hurdles have been overcome with the growing maturity of capturing and deorbiting methods. To this end, a novel geomagnetic energy (GME) propellant approach is firstly proposed to propel a spinning tethered spacecraft for LEO debris deorbiting, without the use of expendable fuel and a large-length tether. In this method, the time-cumulative effect of the interacted torque of the spacecraft’s electromagnet and geomagnetic field is used to accelerate the rotating system for GME storage, and the space momentum exchange from the angular momentum of system to the linear momentum of debris is introduced to deorbit the debris for GME release. Next, an on-orbit directional GME storage mechanism is built, and the corresponding two optimal strategies are put forward. Both theoretical and simulation results demonstrate that GME can be stored in the expected direction on any inclined LEO below 1000 km. Deorbiting kg-level debris can be accomplished within several orbital periods with the existing magnetorquer technology. Finally, proof-of-principle experiments of the GME effect are performed and elementarily validate the LEO GME utilization in space.

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“…Substituting Equation (7) into Equation (10), the controlled components of the spacecraft magnetic moment m are given by…”

Section: -10-11 Directional Energy Storage Mechanismmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Theoretical and Experimental Investigation of Geomagnetic Energy Effect for LEO Debris Deorbiting

Feng

Zhang

et al. 2022

Aerospace

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“…To deal with the threat of space debris to space activities, many debris-capturing methods have been proposed. Generally, contact capturing methods include net capturing [4], harpoon capturing [5], gripper capturing [6] and link space manipulators [7]. The net capturing methods are lightweight, low cost, and more flexible for capturing missions than other capture methods [8].…”

Section: Introductionmentioning

confidence: 99%

Dynamics Analysis of Space Netted Pocket System Capturing Non-Cooperative Target

Tang,

Deng,

Bai

et al. 2023

Applied Sciences

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With the increasing amount of space debris, it is necessary to develop space debris active cleaning technology. The space netted pocket system is a flexible mechanism system which can be used to capture a non-cooperative target flexibly due to the advantages of having a stable structure, strong adaptability and a large capture range. In this paper, the dynamics of the space netted pocket system capturing a non-cooperative target are investigated. The dynamics model of the space netted pocket system is established based on the absolute nodal coordinate formulation (ANCF). The mathematic model of the closing rope is modeled using an ANCF flexible cable dynamics model. Then, the contact collision force model is presented to describe the collision characteristics during the space netted pocket system capturing the target. Finally, the dynamic characteristics of the space netted pocket system capturing the non-cooperative target are analyzed and discussed for different capturing strategies. The simulation results indicate that the target is captured successfully and the target contacts and collides with the rope net in the capturing process, which is subjected to contact and collision forces.

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“…Non-capture removal techniques include laser propulsion removal, ion beam removal, and other similar technologies to reduce the orbit height of SD [25][26][27][28][29]. Among these techniques, using robotic arms with suitably configured end effectors is more mature [30]. However, SD is a non-cooperative target with diverse characteristics.…”

Section: Introductionmentioning

confidence: 99%

A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots

Wang,

Sun,

Wang

et al. 2023

Sensors

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Secure and reliable active debris removal methods are crucial for maintaining the stability of the space environment. Continuum robots, with their hyper-redundant degrees of freedom, offer the ability to capture targets of varying sizes and shapes through whole-arm grasping, making them well-suited for active debris removal missions. This paper proposes a pre-grasping motion planning method for continuum robots based on an improved artificial potential field to restrict the movement area of the grasping target and prevent its escape during the pre-grasping phase. The analysis of the grasping workspace ensures that the target is within the workspace when starting the pre-grasping motion planning by dividing the continuum robot into delivery and grasping segments. An improved artificial potential field is proposed to guide the continuum robot in surrounding the target and creating a grasping area. Specifically, the improved artificial potential field consists of a spatial rotating potential field, an attractive potential field incorporating position and posture potential fields, and a repulsive potential field. The simulation results demonstrate the effectiveness of the proposed method. A comparison of motion planning results between methods that disregard and consider the posture potential field shows that the inclusion of the posture potential field improves the performance of pre-grasping motion planning for spatial targets, achieving a success rate of up to 97.8%.

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TDE-Based Adaptive Integral Sliding Mode Control of Space Manipulator for Space-Debris Active Removal

Cited by 8 publications

References 38 publications

Theoretical and Experimental Investigation of Geomagnetic Energy Effect for LEO Debris Deorbiting

Theoretical and Experimental Investigation of Geomagnetic Energy Effect for LEO Debris Deorbiting

Dynamics Analysis of Space Netted Pocket System Capturing Non-Cooperative Target

A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots

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