TY - GEN
T1 - Inertia Parameters Identification and Control of Post-Capture Combination by Tethered Space Robot
AU - Lu, Yingbo
AU - Huang, Panfeng
AU - Meng, Zhongjie
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/4/10
Y1 - 2019/4/10
N2 - Inertia parameters identification and control of the post-capture combination is investigated. After TSR has firmly captured the non-cooperative tumbling target to constitute a rigid combination, the relevant physical parameters are unknown, which increases the difficulty of combination's attitude stability control. Taking the post-capture combination's three attitudes into consideration, we founded the dynamics of the post-capture combination. Linear regression forms for combination's physical parameters identification is constructed and Recursive Least Squares is employed to obtain the identification results. In the following, we proposed the calculated torque controller to stabilize the post-capture combination. Finally, the simulation results show effectiveness of the identification algorithm and proposed controller.
AB - Inertia parameters identification and control of the post-capture combination is investigated. After TSR has firmly captured the non-cooperative tumbling target to constitute a rigid combination, the relevant physical parameters are unknown, which increases the difficulty of combination's attitude stability control. Taking the post-capture combination's three attitudes into consideration, we founded the dynamics of the post-capture combination. Linear regression forms for combination's physical parameters identification is constructed and Recursive Least Squares is employed to obtain the identification results. In the following, we proposed the calculated torque controller to stabilize the post-capture combination. Finally, the simulation results show effectiveness of the identification algorithm and proposed controller.
UR - http://www.scopus.com/inward/record.url?scp=85064992504&partnerID=8YFLogxK
U2 - 10.1109/CYBER.2018.8688264
DO - 10.1109/CYBER.2018.8688264
M3 - 会议稿件
AN - SCOPUS:85064992504
T3 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
SP - 224
EP - 229
BT - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Y2 - 19 July 2018 through 23 July 2018
ER -