DocumentCode :
623371
Title :
Coordinated approach control method of tethered space robot system
Author :
Zhongjie Meng ; Panfeng Huang
Author_Institution :
Sch. of Astronaut., Northwestern Polytech. Univ., Xian, China
fYear :
2013
fDate :
19-21 June 2013
Firstpage :
1314
Lastpage :
1318
Abstract :
The tethered space robot system (TSR) will play a significant role in future on-orbit capture. In this paper, the approach model is derived and the coordinated approach control method is studied which contains an optimal open-loop controller and a feedback controller. The optimal open-loop control law is designed by Gauss pseudospectral method. Then, the approach model is linearized along the open-loop trajectory and the feedback controller is designed by linear quadratic regulator which is simpler and more efficient than the popular recedinghorizon controller. The simulation results show that the approach control method is effective, even in the presence of initial perturbations, the tracking errors of tether tension and other disturbances.
Keywords :
aerospace robotics; control system synthesis; feedback; linear quadratic control; open loop systems; perturbation techniques; Gauss pseudospectral method; TSR; coordinated approach control method; feedback controller design; linear quadratic regulator; on-orbit capture; open loop trajectory; optimal open loop controller; tether tension tracking errors; tethered space robot system; Aerodynamics; Aerospace electronics; Grippers; Mathematical model; Orbits; Space vehicles; Trajectory; approach modeling; coordinated control; tethered space robot system(TSR);
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2013 8th IEEE Conference on
Conference_Location :
Melbourne, VIC
Print_ISBN :
978-1-4673-6320-4
Type :
conf
DOI :
10.1109/ICIEA.2013.6566570
Filename :
6566570
Link To Document :
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