Abstract
This paper presents a novel scheme for achieving attitude control of a tumbling combination system in the post-capture phase of a tethered space robot (TSR). Given the combination rotation characteristics, tether force is applied to provide greater control torques for stabilising the attitude. The proposed control scheme involves two attitude controllers, which coordinate the controller of the tether force and thruster force and the controller of single thruster force. The numerical simulations include a comparison between this coordinated control and the traditional thruster control and a sensitivity analysis on initial values of parameters. Simulation results validate the feasibility of the attitude control scheme for a tumbling combination system, and fuel consumption of the attitude control is efficiently reduced using the coordinated control strategies.
| Original language | English |
|---|---|
| Pages (from-to) | 898-919 |
| Number of pages | 22 |
| Journal | Robotica |
| Volume | 33 |
| Issue number | 4 |
| DOIs | |
| State | Published - 30 May 2015 |
Keywords
- Combination system attitude control
- Coordinated control
- Post-capture
- Switching control
- Tethered space robot