Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7153541 | Chinese Journal of Aeronautics | 2018 | 10 Pages |
Abstract
This paper addresses the attitude control problem of a space tethered robot platform in the presence of unknown external disturbance caused by a connecting elastic tether. The tether-generated unknown disturbance leads to tremendous challenges for attitude control of the platform. In this work, the perturbed attitude dynamics of the platform are derived with a consideration of the libration of the elastic tether, and then with the purpose of compensating the unknown disturbance, major attention is dedicated to develop a nonlinear disturbance observer based on gyros measurements, after which, an adaptive attitude scheme is proposed by combining the disturbance observer with a sliding mode controller. Finally, benefits from the observer based on an adaptive controller are validated by series of numerical simulations.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Aerospace Engineering
Authors
Guang ZHAI, Heming ZHENG, Bo ZHANG,