TY - JOUR
T1 - Optimal control of approaching target for tethered space robot based on non-singular terminal sliding mode method
AU - Hu, Yongxin
AU - Huang, Panfeng
AU - Meng, Zhongjie
AU - Zhang, Yizhai
AU - Wang, Dongke
N1 - Publisher Copyright:
© 2019 COSPAR
PY - 2019/6/15
Y1 - 2019/6/15
N2 - In the tethered space robot approaching phase, the tether can provide attitude control torque and orbit control force, it can reduce the fuel consumption of the gripper, but there is operation coupling for the tether is not always pass through the centroid of the gripper. And the field of view of the camera is limited, the tracking error of attitude and position can make the target deviate from the camera view field. Aiming to above problems, a position and attitude coordinated control scheme based on non-singular terminal sliding mode method is designed for the approaching task. The dynamic model of tethered space robot based on lumped mass model and elastic rod model are established, respectively. Combining the dynamic model of tethered space robot based on elastic rod model with the relative motion model of the target, a Gaussian pseudo spectral motion planning model is established, the planning model takes into account the constraints of control input and the field of view of gripper. Solving the programming model, the optimal approaching trajectory of the tethered space robot is obtained. Then, a trajectory tracking controller is designed based on non-singular terminal sliding mode method. The simulation results show that the proposed control scheme can realize the accurate position and attitude tracking of the optimal trajectory.
AB - In the tethered space robot approaching phase, the tether can provide attitude control torque and orbit control force, it can reduce the fuel consumption of the gripper, but there is operation coupling for the tether is not always pass through the centroid of the gripper. And the field of view of the camera is limited, the tracking error of attitude and position can make the target deviate from the camera view field. Aiming to above problems, a position and attitude coordinated control scheme based on non-singular terminal sliding mode method is designed for the approaching task. The dynamic model of tethered space robot based on lumped mass model and elastic rod model are established, respectively. Combining the dynamic model of tethered space robot based on elastic rod model with the relative motion model of the target, a Gaussian pseudo spectral motion planning model is established, the planning model takes into account the constraints of control input and the field of view of gripper. Solving the programming model, the optimal approaching trajectory of the tethered space robot is obtained. Then, a trajectory tracking controller is designed based on non-singular terminal sliding mode method. The simulation results show that the proposed control scheme can realize the accurate position and attitude tracking of the optimal trajectory.
KW - Approaching target
KW - Gaussian pseudospectral method
KW - Optimal control method
KW - Tethered space robot
UR - http://www.scopus.com/inward/record.url?scp=85062457837&partnerID=8YFLogxK
U2 - 10.1016/j.asr.2019.02.034
DO - 10.1016/j.asr.2019.02.034
M3 - 文章
AN - SCOPUS:85062457837
SN - 0273-1177
VL - 63
SP - 3848
EP - 3862
JO - Advances in Space Research
JF - Advances in Space Research
IS - 12
ER -