Adaptive anti-windup control of post-capture combination via tethered space robot

Stabilization control is an essential mission for the tethered space robot-target combination during the post-capture phase of tethered space robot (TSR). With the consideration of the space tether and the three dimensional attitude of the post-capture combination, dynamic model of the combination is derived by using Lagrange method. Considering the unknown dynamic parameters (the tether attachment point, unknown target inertia parameters) of the post-capture combination, an adaptive anti-windup control approach is presented to overcome the problem of dynamic uncertainty and control input saturation. Complete stability and performance analyses are presented and illustrative simulation results of application to the post-capture combination system verify the effectiveness of the proposed algorithm.