Reel-Based Tension Control of Tethered Space Robots

Bingheng Wang; Zhongjie Meng; Cheng Jia; Panfeng Huang

doi:10.1109/TAES.2019.2958156

Reel-Based Tension Control of Tethered Space Robots

Bingheng Wang, Zhongjie Meng, Cheng Jia, Panfeng Huang

School of Astronautics

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

14 Scopus citations

Abstract

This article elaborates on the tension control design of tethered space robots for debris removal. The novel approach is to change the tether natural length via a reel. With only the tension sensing, we leverage a Kalman filter and a recursive least-squares algorithm to estimate the actual length and the debris mass, which are fed back to a model-predictive controller to generate the optimal tangential velocity of the reel. Simulations show that the stiff tether exhibits better tension-tracking performance which is robust to the tumbling debris.

Original language	English
Article number	8943351
Pages (from-to)	3028-3043
Number of pages	16
Journal	IEEE Transactions on Aerospace and Electronic Systems
Volume	56
Issue number	4
DOIs	https://doi.org/10.1109/TAES.2019.2958156
State	Published - Aug 2020

Keywords

Active debris removal
Model predictive control
System estimation
Tension control
Tethered space robot

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10.1109/TAES.2019.2958156

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title = "Reel-Based Tension Control of Tethered Space Robots",

abstract = "This article elaborates on the tension control design of tethered space robots for debris removal. The novel approach is to change the tether natural length via a reel. With only the tension sensing, we leverage a Kalman filter and a recursive least-squares algorithm to estimate the actual length and the debris mass, which are fed back to a model-predictive controller to generate the optimal tangential velocity of the reel. Simulations show that the stiff tether exhibits better tension-tracking performance which is robust to the tumbling debris.",

keywords = "Active debris removal, Model predictive control, System estimation, Tension control, Tethered space robot",

author = "Bingheng Wang and Zhongjie Meng and Cheng Jia and Panfeng Huang",

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AU - Jia, Cheng

AU - Huang, Panfeng

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N2 - This article elaborates on the tension control design of tethered space robots for debris removal. The novel approach is to change the tether natural length via a reel. With only the tension sensing, we leverage a Kalman filter and a recursive least-squares algorithm to estimate the actual length and the debris mass, which are fed back to a model-predictive controller to generate the optimal tangential velocity of the reel. Simulations show that the stiff tether exhibits better tension-tracking performance which is robust to the tumbling debris.

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KW - Model predictive control

KW - System estimation

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KW - Tethered space robot

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Reel-Based Tension Control of Tethered Space Robots

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Keywords

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