On the nonlinear slewing dynamics and control of the Space Station based Mobile Servicing System

A relatively general Lagrangian formulation for studying the nonlinear dynamics and control of space-craft with interconnected flexible members in a tree-type topology is developed. Versatility of the formulation is illustrated through a dynamical study of the Space Station based two-link Mobile Servicing System (MSS). The performance of the MSS undergoing inplane and out-of-plane slewing maneuvers is compared. Results indicate that, in absence of control, the maneuvers induce undesirable librational motion of the Space Station as well as vibration of the links. Nonlinear control, based on the Feedback Linearization Technique (FLT), appears promising. Quasi-Closed Loop Control (QCLC), a variation of the FLT, is applied to control the libration of the Space Station. Once the attitude of the Space Station is controlled, the performance of the MSS improves significantly. For a 5-minute maneuver of the MSS, the maximum control torque required is only 34.5 Nm.Nomenclature f _i ¹ , f _i,j ¹ fundamental frequency of bodies B _i and B _i,j, respectively - l _c, l _i, l _i,j length of bodies B _c, B _i, and B _i,j, respectively - m _c, m _i, m _i,j mass of bodies B _c, B _i, and B _i,j, respectively - % MathType!MTEF!2!1!+-% feaafiart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXafv3ySLgzGmvETj2BSbqefm0B1jxALjhiov2D% aebbfv3ySLgzGueE0jxyaibaiGc9yrFr0xXdbba91rFfpec8Eeeu0x% Xdbba9frFj0-OqFfea0dXdd9vqaq-JfrVkFHe9pgea0dXdar-Jb9hs% 0dXdbPYxe9vr0-vr0-vqpWqaaeaabiGaciaacaqabeaadaqaaqGaaO% qaaerbhv2BYDwAHbacfiGab8xCayaaraqefavySfgDP52BGWuAU9gD% 5bxzaGGbciaa+zgacaWFSaGaa8hiaiqa-fhagaqeaiaa-jhaaaa!4B1F!\\bar qf, \bar qr\] vector representing flexible and rigid generalized coordinates - % MathType!MTEF!2!1!+-% feaafiart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXafv3ySLgzGmvETj2BSbqefm0B1jxALjhiov2D% aebbfv3ySLgzGueE0jxyaibaiGc9yrFr0xXdbba91rFfpec8Eeeu0x% Xdbba9frFj0-OqFfea0dXdd9vqaq-JfrVkFHe9pgea0dXdar-Jb9hs% 0dXdbPYxe9vr0-vr0-vqpWqaaeaabiGaciaacaqabeaadaqaaqGaaO% qaaerbhv2BYDwAHbacfiGaa8hkaiqa-fhagaqeaiaa-jhacaWFPaqe% favySfgDP52BGWuAU9gD5bxzaGGbciaa+rgaaaa!4A18!\(\bar qr)d\] vector representing the desired rigid generalized coordinates - (I _xx)k, (I _yy)k, (I _zz)k principal inertia of body B _k about X _k, Y _k, and Z _k axes, respectively; ksc, i or i, j - K _p, K _v displacement and velocity gain matrices - N _q total number of generalized coordinates - % MathType!MTEF!2!1!+-% feaafiart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXafv3ySLgzGmvETj2BSbqefm0B1jxALjhiov2D% aebbfv3ySLgzGueE0jxyaibaiGc9yrFr0xXdbba91rFfpec8Eeeu0x% Xdbba9frFj0-OqFfea0dXdd9vqaq-JfrVkFHe9pgea0dXdar-Jb9hs% 0dXdbPYxe9vr0-vr0-vqpWqaaeaabiGaciaacaqabeaadaqaaqGaaO% qaaerbwvMCKfMBHbacfiGab8xuayaaraqefavySfgDP52BGWuAU9gD% 5bxzaGGbciaa+zgaieaacaqFSaGaa0hiaiqa-ffagaqeaGqaciaa8j% haaaa!4AEF!\\bar Qf, \bar Qr\] control effort vectors for flexible and rigid coordinates, respectively - Q , Q , Q control effort for pitch, roll and yaw degree of freedom, respectively - _k ^y , _k ^z tip deflection of a beam type appendage (B _k) in the Y _k and Z _k directions, respectively.