典型文献
Capture and detumbling control for active debris removal by a dual-arm space robot
文献摘要：
Active debris removal(ADR)technology is an effective approach to remediate the pro-liferation of space debris,which seriously threatens the operational safety of orbital spacecraft.This study aims to design a controller for a dual-arm space robot to capture tumbling debris,including capture control and detumbling control.Typical space debris is considered as a non-cooperative target,which has no specific capture points and unknown dynamic parameters.Compliant clamp-ing control and the adaptive backstepping-based prescribed trajectory tracking control(PTTC)method are proposed in this paper.First,the differential geometry theory is utilized to establish the constraint equations,the dynamic model of the chaser-target system is obtained by applying the Hamilton variational principle,and the compliance clamping controller is further designed to capture the non-cooperative target without contact force feedback.Next,in the post-capture phase,an adaptive backstepping-based PTTC is proposed to detumble the combined spacecraft in the presence of model uncertainties.Finally,numerical simulations are carried out to validate the fea-sibility of the proposed capture and detumbling control method.Simulation results indicate that the target detumbling achieved by the PTTC method can reduce propellant consumption by up to 24.11％.
文献关键词：
中图分类号：
作者姓名：
Dong HAN;Gangqi DONG;Panfeng HUANG;Zhiqing MA
作者机构：
National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi'an 710072,China;Research Center for Intelligent Robotics,School of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China
文献出处：
引用格式：
[1]Dong HAN;Gangqi DONG;Panfeng HUANG;Zhiqing MA-.Capture and detumbling control for active debris removal by a dual-arm space robot)[J].中国航空学报（英文版）,2022(09):342-353
A类：
detumbling,remediate,tumbling,PTTC,chaser,detumble
B类：
Capture,active,debris,removal,by,dual,arm,robot,Active,ADR,technology,effective,approach,liferation,which,seriously,threatens,operational,safety,orbital,spacecraft,This,study,aims,controller,capture,including,Typical,considered,cooperative,target,specific,points,unknown,dynamic,parameters,Compliant,adaptive,backstepping,prescribed,trajectory,tracking,method,are,proposed,this,paper,First,differential,geometry,theory,utilized,establish,constraint,equations,model,system,obtained,applying,Hamilton,variational,principle,compliance,clamping,further,designed,without,contact,force,feedback,Next,post,phase,combined,presence,uncertainties,Finally,numerical,simulations,carried,validate,fea,sibility,Simulation,results,indicate,that,achieved,can,reduce,propellant,consumption,up
AB值：
0.497049
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