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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    Title :

    In-space structural assembly using predefined performance based method


    Contributors:
    Zhang, Xianliang (author) / Zhu, Weibing (author) / Wu, Xiande (author) / Song, Ting (author) / Xie, Yaen (author) / Zhao, Han (author)


    Publication date :

    2020-10-14


    Size :

    1 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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