Abstract
Space-Tethered-Robot (STR) is a new space aerocraft, which provides a new way for close range target capture. As one of the key technologies of STR, the release dynamics and control has not aroused much attention in literature. The release dynamics and control method of STR were studied. The nonlinear dynamic characteristics of STR were analyzed. Active study controller was designed using the global feedback linearization technology. The parameters of the controller were regulated dynamically by learning online. The releasing strategy solved the problem of instability when the robot was released towards the horizontal direction. The robot was treated as an independent control system after it was released from the platform, which could make the robot be released towards any directions. Finally, the effectiveness of this method was verified by numerical simulation results.
| Original language | English |
|---|---|
| Pages (from-to) | 1282-1286 |
| Number of pages | 5 |
| Journal | Xitong Fangzhen Xuebao / Journal of System Simulation |
| Volume | 24 |
| Issue number | 6 |
| State | Published - Jun 2012 |
Keywords
- Feedback linearization
- Learning online
- Release dynamics
- Space-Tethered-Robot
- Target capture