Impact dynamics analysis of free-floating space manipulator capturing satellite on orbit and robust adaptive compound control algorithm design for suppressing motion |
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Authors: | Qiu-huang Dong Li Chen |
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Affiliation: | 1. School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou, 350108, P. R. China
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Abstract: | The impact dynamics, impact effect, and post-impact unstable motion suppression of free-floating space manipulator capturing a satellite on orbit are analyzed. Firstly, the dynamics equation of free-floating space manipulator is derived using the second Lagrangian equation. Combining the momentum conservation principle, the impact dynamics and effect between the space manipulator end-effector and satellite of the capture process are analyzed with the momentum impulse method. Focusing on the unstable motion of space manipulator due to the above impact effect, a robust adaptive compound control algorithm is designed to suppress the above unstable motion. There is no need to control the free-floating base position to save the jet fuel. Finally, the simulation is proposed to show the impact effect and verify the validity of the control algorithm. |
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Keywords: | free-floating space manipulator satellite capturing impact dynamics robust adaptive compound control |
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