Coordinated attitude control of Tethered Space Robot during target approaching phase

The coordinated attitude control of the Tethered Space Robot (TSR) during target approaching phase is studied here. An attitude coordinated control mechanism with a mobile tether attachment point is designed, and orbit and attitude dynamics models of a TSR with this mechanism are established. Given the dynamics characteristics of mobile attachment point, the sliding mode control method is utilized in the design of the attitude coordinated controller, in which the attitude control mechanism and the thrusters provide three axis control torques together. The simulation result shows that the attitude of the TSR during target approaching phase can be controlled by tether tension via this attitude coordinated control mechanism and the fuel consumption is efficiently reduced.