The purpose of this paper is to propose a pre-defined performance robust control method for pre-assembly configuration establishment of in-space assembly missions, and collision avoidance is considered during the configuration establishment process.

    Design/methodology/approach

    First, six-degrees-of-freedom error kinematic and dynamic models of relative translational and rotational motion between transportation systems are developed. Second, the prescribed transient-state performance bounds of tracking errors are designed. In addition, based on the backstepping, combining the pre-defined performance control method with a robust control method, a pre-defined performance robust controller is designed.

    Findings

    By designing prescribed transient-state performance bounds of tracking errors to guarantee that there is no overshoot, collision-avoidance can be achieved. Combining the pre-defined performance control method with a robust control method, robustness to disturbance is guaranteed.

    Originality/value

    This paper proposed a pre-defined performance robust control method. Simulation results demonstrate that the proposed controller can achieve a pre-assembly configuration establishment with collision avoidance in the existence of external disturbances.


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    Titel :

    In-space structural assembly using predefined performance based method


    Beteiligte:
    Zhang, Xianliang (Autor:in) / Zhu, Weibing (Autor:in) / Wu, Xiande (Autor:in) / Song, Ting (Autor:in) / Xie, Yaen (Autor:in) / Zhao, Han (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2020-10-14


    Format / Umfang :

    1 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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