Adaptive attitude takeover control for noncooperative targets using robust allocation

Attitude takeover control is necessary for space debris removal and satellite orbit transfer. Taking control constraints, unknown inertial tensor, uncertain capture position and external disturbances into consideration, an adaptive control torque for the post-capture combination attitude takeover control is designed. The uncertain capture leads to the movement of gripper, which causes the relative position and attitude motion between the gripper and the debris and changes the configuration of thrusters and tether. Based on the robust optimization theory and interior-point method, control torque, as the intermediate control volume, is allocated to thrusters and tether. Simulation results show that the algorithm designed have good robustness and can implement the attitude takeover control of the combination after capturing the target.