TY - GEN
T1 - Coordinated attitude control for Tethered Space Robot
AU - Xu, Xiudong
AU - Huang, Panfeng
AU - Ma, Jun
AU - Xu, Bingzong
PY - 2014
Y1 - 2014
N2 - Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. The operational robot should control its attitude for adjusting to target attitude before starting on-orbit service. According to attitude control problem of operational robot, this paper proposes one kind of coordinated attitude control method utilizing space tether and reaction wheel. Firstly, orbital dynamics model and attitude kinematics model are established. Then the PD controller is designed by using of space tether for controlling orbital plane attitude angle. The control algorithm of three axis attitude is implemented utilizing feedback linearization principle, which provides roll, pitch and yaw torques. The torque is obtained by moving tether attachment and reaction wheel rotating. Numerical results are presented, demonstrating the validity of tracking desired attitude angle.
AB - Tethered Space Robot (TSR) is a new kind of space robot, which consists of robot platform, space tether and operational robot. The operational robot should control its attitude for adjusting to target attitude before starting on-orbit service. According to attitude control problem of operational robot, this paper proposes one kind of coordinated attitude control method utilizing space tether and reaction wheel. Firstly, orbital dynamics model and attitude kinematics model are established. Then the PD controller is designed by using of space tether for controlling orbital plane attitude angle. The control algorithm of three axis attitude is implemented utilizing feedback linearization principle, which provides roll, pitch and yaw torques. The torque is obtained by moving tether attachment and reaction wheel rotating. Numerical results are presented, demonstrating the validity of tracking desired attitude angle.
KW - Coordinated Attitude Control
KW - Feedback Linearization
KW - Tether Attachment and Reaction Wheel
KW - TSR
UR - https://www.scopus.com/pages/publications/84905268867
U2 - 10.1109/CCDC.2014.6852917
DO - 10.1109/CCDC.2014.6852917
M3 - 会议稿件
AN - SCOPUS:84905268867
SN - 9781479937066
T3 - 26th Chinese Control and Decision Conference, CCDC 2014
SP - 4198
EP - 4203
BT - 26th Chinese Control and Decision Conference, CCDC 2014
PB - IEEE Computer Society
T2 - 26th Chinese Control and Decision Conference, CCDC 2014
Y2 - 31 May 2014 through 2 June 2014
ER -