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

Published online by Cambridge University Press:  20 March 2014

Panfeng Huang ,
Dongke Wang ,
Zhongjie Meng  and
Zhengxiong Liu
Panfeng Huang*
Affiliation:
National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, P.R. China Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, P.R. China
Dongke Wang
Affiliation:
National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, P.R. China Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, P.R. China
Zhongjie Meng
Affiliation:
National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, P.R. China Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, P.R. China
Zhengxiong Liu
Affiliation:
National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an 710072, P.R. China Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, P.R. China
*
*Corresponding author. E-mail: pfhuang@nwpu.edu.cn
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Summary

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.

Keywords

Tethered space robotPost-captureCombination system attitude controlCoordinated controlSwitching control
Type
Articles
Information
Robotica , Volume 33 , Issue 4 , May 2015 , pp. 898 - 919
Copyright
Copyright © Cambridge University Press 2014 

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