Collision avoidance and compliant composite active disturbance rejection control of space robot capture spacecraft

被引：0
|
作者：
Ai H.-P. [1 ]
Chen L. [1 ]
机构：
[1] School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou
来源：
Kongzhi yu Juece/Control and Decision | 2021年 / 36卷 / 02期
关键词：
Capture spacecraft operation; Collision avoidance and compliant control; Composite error active disturbance rejection control; Space robot; Spring class compliant mechanism;
D O I：
10.13195/j.kzyjc.2019.0507
中图分类号：
学科分类号：
摘要：
The collision avoidance and compliant control for free-floating space robots on-orbit capture non-cooperative spacecraft is studied. For the reason, a spring class compliant mechanism, rotary series elastic actuator (RSEA), is mounted between the joint motor and the manipulator, its functions are: 1) The deformation of its internal spring can absorb the impact energy of the captured spacecraft on the joints of the space robot; 2) The joint impact torque can be limited to a safe range by combining with the collision avoidance compliant control scheme. First of all, the dynamic models of the space robot and the target spacecraft before capture are obtained by using the Lagrange approach and Newton-Euler method. Then based on the law of conservation of momentum, the constraints of kinematics and the law of force transfer, the integrated dynamic model of the combined system is derived; Finally, considering the post-capture unstable combined system, a collision avoidance and compliant composite error active disturbance rejection control is proposed for the stabilization control. Numerical simulation verifies the effectiveness of the proposed collision avoidance and compliant control method. Copyright ©2021 Control and Decision.
引用
收藏
页码：355 / 362
页数：7
相关论文
共 24 条
  • [1] Flores-Abad A, Ma O, Pham K, Et al., A review of space robotics technologies for on-orbit servicing, Progress in Aerospace Sciences, 68, pp. 1-26, (2014)
  • [2] Huang P F, Lu Y B, Wang M, Et al., Attitude takeover control for spacecraft with unknown parameter, Control and Decision, 32, 9, pp. 1547-1555, (2017)
  • [3] Rekleitis G, Papadopoulos E., On-orbit cooperating space robotic servicers handling a passive object, IEEE Transactions on Aerospace and Electronic Systems, 51, 2, pp. 802-814, (2015)
  • [4] James F, Shah S V, Singh A K, Et al., Reactionless maneuvering of a space robot in precapture phase, Journal of Guidance, Control, and Dynamics, 39, 10, pp. 2417-2423, (2016)
  • [5] Yi Z G, Ge X S., Attitude motion trajectory tracking for underactuated spacecraft based on indirect legendre pesudospectral method, Journal of Astronautics, 39, 6, pp. 648-655, (2018)
  • [6] Li J L, Ding X L, Zhang W M, Et al., Design of a multi-function minor planet soil sampler, Journal of Mechanical Engineering, 51, 13, pp. 167-175, (2015)
  • [7] Qin L, Liu F C, Liang L H, Et al., Fuzzy adaptive robust control for space robot considering the effect of the gravity, Chinese Journal of Aeronautics, 27, 6, pp. 1562-1570, (2014)
  • [8] Bandyopadhyay S, Chung S J, Hadaegh F Y., Nonlinear attitude control of spacecraft with a large captured object, Journal of Guidance, Control, and Dynamic, 39, 4, pp. 754-769, (2016)
  • [9] Meng D S, Lu W N, Xu W F, Et al., Vibration suppression control of free-floating space robots with flexible appendages for autonomous target capturing, Acta Astronautica, 151, pp. 904-918, (2018)
  • [10] Wang C Q, Zhang C L., Dynamic control of a free-floating flexible dual-arm space robotic system, Journal of Mechanical Engineering, 43, 10, pp. 196-200, (2007)
123