Hostname: page-component-8448b6f56d-c47g7 Total loading time: 0 Render date: 2024-04-18T02:13:39.059Z Has data issue: false hasContentIssue false

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

Published online by Cambridge University Press:  20 March 2014

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

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.

Type
Articles
Copyright
Copyright © Cambridge University Press 2014 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Cartmell, M. P. and McKenzie, D. J., “A review of space tether research,” Prog. Aerosp. Sci. 44, 121 (2008).Google Scholar
2. Levin, E. M., “Dynamic analysis of space tether missions,” Adv. Astronaut. Sci. 126, 1119 (2007).Google Scholar
3. Kumar, K. D., “Review of dynamics and control of non-electrodynamic tethered satellite systems,” J. Spacecr. Rockets 43 (4), 705720 (2006).CrossRefGoogle Scholar
4. Mankala, K. K. and Agrawal, S. K., “Dynamic modeling and simulation of impact in tether net/gripper systems,” Multibody Syst. Dyn. 11, 235250 (2004).Google Scholar
5. Williams, P., Blanksby, C., Trivailo, P. and Fujii, H. A., “In-plane payload capture using tethers,” Acta Astronaut. 57 (10), 772787 (2005).CrossRefGoogle Scholar
6. Williams, P., “In-plane payload capture with an elastic tether,” J. Guid. Control Dyn. 29 (4), 810821 (2006).Google Scholar
7. Zhai, G., Qiu, Y and Liang, B., “On-orbit capture with flexible tether-net system,” Acta Astronaut. 65, 613623 (2009).Google Scholar
8. Zhai, G., Qiu, Y., Liang, B. and Li, C., “System dynamics and feedforward control for tether-net space robot system,” Int. J. Adv. Robot. Syst. 6 (2), 137144 (2009).CrossRefGoogle Scholar
9. Nohmi, M., Yamamoto, T. and Takagi, Y., “Microgravity Experiment for Attitude Control of a Tethered Body by Arm Link Motion,” Proceedings of IEEE International Conference on Mechatronics and Automation, Harbin (2007) pp. 35193524.Google Scholar
10. Nohmi, M., “Attitude Control of a Tethered Space Robot by Link Motion Under Microgravity,” Proceedings of the 2004 IEEE International Conference on Control Applications, Taipei, Taiwan (2004) pp. 424429.Google Scholar
11. Nohmi, M., “Mission Design of a Tethered Robot Satellite Stars for Orbital Experiment,” Proceedings of the 18th IEEE International Conference on Control Applications Part of 2009 IEEE Multi-Conference on Systems and Control Saint Petersburg, Russia (Jul. 8–10, 2009) pp. 10751080.Google Scholar
12. Kumar, G. K. D. and Tan, B., “Nonlinear optimal control of tethered satellite systems using tether offset in the presence of tether failure,” Acta Astronaut. 66, 14341448 (May–Jun. 2010).Google Scholar
13. Kumar, K. D. and Kumar, K., “Satellite pitch and roll attitude maneuvers through very short tethers,” Acta Astronaut. 44 (5), 257265 (1999).Google Scholar
14. Beda, P. B., “On requirements for attitude dynamics and stability control for tethered satellite systems,” JSME Int. J. 43 (3), 678683 (2000).Google Scholar
15. Mori, O. and Matunaga, S., “Formation and attitude control for rotational tethered satellite,” J. Spacecr. Rockets 44 (1), 211220 (2007).Google Scholar
16. Chang, I., Park, S.-Y. and Choi, K.-H., “Nonlinear attitude control of a tether-connected multi-satellite in three-dimensional space,” IEEE Trans. Aerosp. Electron. Syst. 46 (4), 10 (2010).Google Scholar
17. Menon, C. and Bombardelli, C., “Self-stabilizing attitude control for spinning tethered formations,” Acta Astronaut. 60, 828833 (2007).Google Scholar
18. Bergamaschi, S. and Bonon, F., “Coupling of tether lateral vibration and sub-satellite attitude motion,” J. Guid Control Dyn. 15 (5), 12841286 (1992, Sep.–Oct.).Google Scholar
19. Yoshida, K., Dimitrov, D. and Nakanishi, H., “On the Capture of Tumbling Satellite by a Space Robot,” Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China (2006) pp. 41274132.Google Scholar
20. Flores-Abad, A. and Ma, O., “Control of a Space Robot for Minimal Attitude Disturbance to the Base Satellite for Capturing a Tumbling Satellite,” SPIE Proceedings on Sensors and System for Space Applications, Vol. 8385, 83850J-1 (2012).Google Scholar
21. Liu, S., Wu, L. and Lu, Z., “Impact dynamics and control of a flexible dual-arm space robot capturing an object,” Appl. Math. Comput. 185, 11491159 (2007).Google Scholar
22. Chau, T., Huynh, N. and Sharf, I., “Adaptive Reactionless Motion with Joint Limit Avoidance for Robotic Capture of Unknown Target in Space,” 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, Vilamoura, Algarve, Portugal (2012) pp. 11551160.Google Scholar
23. Aghili, F., “Optimal Control of a Space Manipulator for Detumbling of a Satellite,” International Conference on Robotics and Automation, Kobe, Japan (May 12–17, 2009) pp. 30193024.Google Scholar
24. Aghili, F., “Coordination Control of a Free-Flying Manipulator and its Base Attitude to Capture and Detumble a Noncooperative Satellite,” 2009 IEEE-RSJ International Conference on Intelligent Robots and Systems (2009) pp. 2365–2372.Google Scholar
25. Xu, W., Li, C., Liang, B., Xu, Y. et al., “Target berthing and base reorientation of free-floating space robotic system after capturing,” Acta Astronaut. 64, 109126 (2009).CrossRefGoogle Scholar
26. Yuya, N., Fumiki, S. and Shinichi, N., Guidance and Control of “Tethered Retriever” with Collaborative Tension-Thruster Control for Future On-Orbit Service Missions (Special Publication) (European Space Agency, ESA SP, Paris, France, 2005.Google Scholar
27. Spencer, D. B., Seybold, D. B., Misra, A. K. and Lisowski, R. J., “Dynamics and control of a tethered space robot with tension,” Adv. Astronaut. Sci. 109, 15871595 (2001).Google Scholar
28. Mankala, K. K. and Agrawal, S. K., “Dynamic modeling and simulation of satellite tethered systems,” J. Vib. Acoust. 127, 144156 (2005).Google Scholar
29. Crassidis, J. L. and Markley, F. L., “Sliding mode control using modified Rodrigues parameters,” J. Guid. Control Dyn. 19 (6), 13811383 (1996).Google Scholar
30. Xing, G. Q. and Parvez, S. A., “Nonlinear attitude state tracking control for spacecraft,” J. Guid. Control Dyn. 24 (3), 624626 (2001).Google Scholar
31. Srinivas, M. and Patnaik, L. M., “Genetic algorithms: A survey,” Computer 27 (6), 1726 (1994).CrossRefGoogle Scholar