AbstractA noncooperative target with large inertia grasped by space robot may contain a large unkonwn initial angular momentum, which will cause the compound system unstable. Unloading the unkonwn angular momentum of the compound system is a necessary and diffcult task. In the paper, a coordinated stabilization scenario is introduced to reduce the angular momentum, which has two stages, Momentum Reduction and Momentum Redistribution. For the Momentum Reduction, a modified adaptive sliding mode control algorithm is proposed and used to reduce the unknown angular momentum of target, which uses a new signum function and time-delay estimation to assure fast convergence and achieve good performance with small chattering effect. Finally, a plane dual-arm space robot is simulated, the numerical simulations show that the proposed control algorithm is able to stabilize a noncooperative target with large inertia successfully, while the attitude disturbance of base is small. The control algorithm also has a good robust performance.
HighlightsA coordinated stabilization scenario is introduced to reduce the angular momentum.A modified adaptive sliding mode control algorithm is proposed.The proposed control algorithm is used to reduce the unknown angular momentum.
Coordinated stabilization for space robot after capturing a noncooperative target with large inertia
Acta Astronautica ; 134 ; 75-84
2017-01-28
10 pages
Article (Journal)
Electronic Resource
English
Coordinated stabilization for space robot after capturing a noncooperative target with large inertia
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