TY - GEN
T1 - Oscillation suppression control of Tethered Space Robot based on nonhomogeneous observer
AU - Zhang, Fan
AU - Wang, Chen
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - As a potential solution for space debris capture and removal, a space tethered robot has been widely studied, in especial the control scheme of deployment and retrieval. Due to the inherent unstable (during the retrieval) and orbital Coriolis force, the oscillation always go with the tether's deployment and retrieval. To solve the challenge problem, a second-order sliding mode control scheme based on a nonhomogeneous observer is proposed to suppress the oscillation of space tether. According to the analysis between the proposed scheme and one without observer, it is theoretically proved the advantage of the designed control scheme. The numerical simulation results prove the theoretical derivation.
AB - As a potential solution for space debris capture and removal, a space tethered robot has been widely studied, in especial the control scheme of deployment and retrieval. Due to the inherent unstable (during the retrieval) and orbital Coriolis force, the oscillation always go with the tether's deployment and retrieval. To solve the challenge problem, a second-order sliding mode control scheme based on a nonhomogeneous observer is proposed to suppress the oscillation of space tether. According to the analysis between the proposed scheme and one without observer, it is theoretically proved the advantage of the designed control scheme. The numerical simulation results prove the theoretical derivation.
KW - oscillation suppression control
KW - space tethered robot
KW - strong robust
UR - http://www.scopus.com/inward/record.url?scp=85085861694&partnerID=8YFLogxK
U2 - 10.1109/CIS-RAM47153.2019.9095858
DO - 10.1109/CIS-RAM47153.2019.9095858
M3 - 会议稿件
AN - SCOPUS:85085861694
T3 - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
SP - 416
EP - 421
BT - Proceedings of the IEEE 2019 9th International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th IEEE International Conference on Cybernetics and Intelligent Systems and Robotics, Automation and Mechatronics, CIS and RAM 2019
Y2 - 18 November 2019 through 20 November 2019
ER -