TY - GEN
T1 - Underactuated control of swing in orbit debris towing removal via tether space robots
AU - Meng, Zhongjie
AU - Bai, Yutong
AU - Huang, Panfeng
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - Towing removal using tethered space robot is a promising method for the ever increasing space debris population. The tether libration is one of the obstacles for its on-orbit application. For the space debris does not have any driving force and the tether is not a suitable control input, transfer thrusts on tug are remaining control inputs for libration suppressing. It consequently becomes an underactuated control problem. A dynamical model of debris towing removal system (DTRS) is established firstly. Then, an anti-windup hierarchical sliding mode control law is studied for the constrained and underactuated transfer thrusts on the tug. Simulation results show that the tether librational motion is suppressed and the controller is feasible. Under the transfer thrusts on tug, the orbit radius, true anomaly and tether librational angle are tracked to their desired states accurately.
AB - Towing removal using tethered space robot is a promising method for the ever increasing space debris population. The tether libration is one of the obstacles for its on-orbit application. For the space debris does not have any driving force and the tether is not a suitable control input, transfer thrusts on tug are remaining control inputs for libration suppressing. It consequently becomes an underactuated control problem. A dynamical model of debris towing removal system (DTRS) is established firstly. Then, an anti-windup hierarchical sliding mode control law is studied for the constrained and underactuated transfer thrusts on the tug. Simulation results show that the tether librational motion is suppressed and the controller is feasible. Under the transfer thrusts on tug, the orbit radius, true anomaly and tether librational angle are tracked to their desired states accurately.
KW - Sliding mode control
KW - Tethered space robot
KW - Towing Removal
KW - Underactuated control
UR - http://www.scopus.com/inward/record.url?scp=85049979565&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2017.8324676
DO - 10.1109/ROBIO.2017.8324676
M3 - 会议稿件
AN - SCOPUS:85049979565
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 1781
EP - 1786
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -