Trajectory tracking for repeated-impact-based detumbling using a multi-arm space robot

Detumbling a spinning target using a multi-arm space robot through repeated impacts between manipulators and the target is thought to be practicable in a free-floating environment. Trajectory tracking strategies for repeated-impact-based(RIB) detumbling are hindered by discontinuous dynamics and state-triggered jumps caused by repeated impacts, and the fact that the passive target can only controlled through discrete impacts. In this paper, a trajectory tracking strategy for RIB detumbling is developed, which considered the discontinuity of RIB detumbling systems, to make sure that the target tracks its reference trajectory with only impacts as discrete inputs. The tracking strategy is made up of prediction, re-planning, and tracking for both the target and the chaser system, based on the reference spreading error. Simulation results of a planar RIB detumbling system show the effectiveness of the proposed control strategy and its promising implementations.