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

Yingbo Lu; Panfeng Huang; Zhongjie Meng

doi:10.1016/j.asr.2019.05.029

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

Yingbo Lu, Panfeng Huang, Zhongjie Meng

School of Astronautics

Northwestern Polytechnical University Xian

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	847-860
Number of pages	14
Journal	Advances in Space Research
Volume	64
Issue number	4
DOIs	https://doi.org/10.1016/j.asr.2019.05.029
State	Published - 15 Aug 2019

Keywords

Adaptive anti-windup
Control input saturation
Dynamic uncertainty
Post-capture combination
Tethered space robot

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10.1016/j.asr.2019.05.029

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title = "Adaptive anti-windup control of post-capture combination via tethered space robot",

abstract = "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.",

keywords = "Adaptive anti-windup, Control input saturation, Dynamic uncertainty, Post-capture combination, Tethered space robot",

author = "Yingbo Lu and Panfeng Huang and Zhongjie Meng",

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AU - Lu, Yingbo

AU - Huang, Panfeng

AU - Meng, Zhongjie

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Y1 - 2019/8/15

N2 - 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.

AB - 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.

KW - Adaptive anti-windup

KW - Control input saturation

KW - Dynamic uncertainty

KW - Post-capture combination

KW - Tethered space robot

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M3 - 文章

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SN - 0273-1177

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EP - 860

JO - Advances in Space Research

JF - Advances in Space Research

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

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Keywords

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