Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
8131985 | Advances in Space Research | 2018 | 8 Pages |
Abstract
Approaching control is a key mission for the tethered space robot to perform the task of removing space debris. But the uncertainties of the TSR such as the change of model parameter have an important effect on the approaching mission. Considering the space tether and the attitude of the gripper, the dynamic model of the TSR is derived using Lagrange method. Then a disturbance observer is designed to estimate the uncertainty based on STW control method. Using the disturbance observer, a controller is designed, and the performance is compared with the dynamic inverse controller which turns out that the proposed controller performs better. Numerical simulation validates the feasibility of the proposed controller on the position and attitude tracking of the TSR.
Related Topics
Physical Sciences and Engineering
Earth and Planetary Sciences
Space and Planetary Science
Authors
Yongxin Hu, Panfeng Huang, Zhongjie Meng, Dongke Wang, Yingbo Lu,