Dynamics and control of the hub-spoke tethered space robot formation system

This hub-spoke open-loop tethered space robot formation system is a novel formation conception. Stability, flexibility and fuel consumption of the hub-spoke tethered space robot formation system have been significantly improved. Concerning with the error control problem in spinning process of the hub-spoke tethered space robot formation system, firstly a spinning dynamics model is established based on some reasonable assumption. Secondly the controllability of the tether force and the spinning torque are detailed discussed. Thirdly a coordinated control method for tether force and spinning torque is introduced for the error control of the hub-spoke tethered space robot formation system. Finally some digital simulations are implemented. The simulation results indicate that the proposed coordinate control method of tether force and spinning torque is feasible and effective.