The presented work introduces a new class of controllers for free-flying space manipulators liable to unknown/unstructured, adverse disturbing forces/torques imposed on the end effector. A novel approach for constructing the spacecraft desired trajectory based on a virtual space manipulator with maximal holonomic manipulability measure is also offered herein. Applying the accurately defined task-space nonsingular terminal sliding manifold as well as the Lyapunov stability theory, we offer a class of controllers based on the estimated, extended, transposed Jacobian matrix which also appear to be efficient in countering the unstructured disturbing forces/torques. The numerical calculations being carried out for a space manipulator that is composed of a spacecraft propelled by eight thrusters and a holonomic manipulator of three revolute kinematic pairs exemplify the performance of the recommended controller. Numeric comparison with other control algorithms, which are renowned in the literature, is made as well.
Robust Control in Synchronization Process of Space Manipulators with Tumbling Target
Journal of Guidance, Control, and Dynamics ; 47 , 3 ; 489-502
2023-12-14
14 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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