Optimal control of the rotating velocity of hub-spoke tethered space robot formation

The hub-spoke tethered space robot (TSR) formation is a novel formation system. The stability, flexibility and fuel consumption of the hub-spoke TSR formation system have been significantly improved. The optimal control problem of the rotating velocity of the hub-spoke TSR formation system is proposed and studied. Firstly, an analytical model is used to describe the rotating hub-spoke TSR formation system. Secondly, the optimal control problem of the rotating velocity and the theory of the hp-adaptive pseudospectral method are described. Thirdly, a closed-loop optimal control system based on the hp-adaptive pseudospectral method is established. Finally, some digital imitations are implemented to validate the proposed closed-loop optimal control system.