Regular Papers

International Journal of Control, Automation and Systems 2018; 16(5): 2103-2113

Published online July 25, 2018

https://doi.org/10.1007/s12555-017-0689-7

© The International Journal of Control, Automation, and Systems

Manipulator-actuated Adaptive Integrated Translational and Rotational Stabilization for Spacecraft in Proximity Operations with Control Constraint

Feng Zhang* and Guang-Ren Duan

China Academy of Launch Vehicle Technology

Abstract

This paper tackles the problem of integrated translation and rotation stabilization of the spacecraft in proximity operations by proposing a novel manipulator actuation strategy. To do so, by theoretically integrating the attitude/position motion of the spacecraft and the joint motion of the manipulator, a coupled translational and rotational kinematics of the spacecraft with a single space manipulator mounted is formulated, where system unknown parameters and residual system momentum are taken into account and analyzed. Taking the joint motion as the control input, a projection-based adaptive control scheme is then developed such that the translation and rotation of the spacecraft can be robustly stabilized with the manipulator-based actuation. The closed-loop asymptotic stability is guaranteed within Lyapunov framework. Meanwhile, considering the constrained joint motion of the manipulator, the resulting control constraint issue is handled by developing an optimization based bound analysis method, which also facilitates the determination of control parameters. Two scenario numerical simulations demonstrate the effect of the designed control scheme."

Keywords Adaptive control, control constraint, integrated translation and rotation control, proximity operations, space manipulator.

Article

Regular Papers

International Journal of Control, Automation and Systems 2018; 16(5): 2103-2113

Published online October 1, 2018 https://doi.org/10.1007/s12555-017-0689-7

Copyright © The International Journal of Control, Automation, and Systems.

Manipulator-actuated Adaptive Integrated Translational and Rotational Stabilization for Spacecraft in Proximity Operations with Control Constraint

Feng Zhang* and Guang-Ren Duan

China Academy of Launch Vehicle Technology

Abstract

This paper tackles the problem of integrated translation and rotation stabilization of the spacecraft in proximity operations by proposing a novel manipulator actuation strategy. To do so, by theoretically integrating the attitude/position motion of the spacecraft and the joint motion of the manipulator, a coupled translational and rotational kinematics of the spacecraft with a single space manipulator mounted is formulated, where system unknown parameters and residual system momentum are taken into account and analyzed. Taking the joint motion as the control input, a projection-based adaptive control scheme is then developed such that the translation and rotation of the spacecraft can be robustly stabilized with the manipulator-based actuation. The closed-loop asymptotic stability is guaranteed within Lyapunov framework. Meanwhile, considering the constrained joint motion of the manipulator, the resulting control constraint issue is handled by developing an optimization based bound analysis method, which also facilitates the determination of control parameters. Two scenario numerical simulations demonstrate the effect of the designed control scheme."

Keywords: Adaptive control, control constraint, integrated translation and rotation control, proximity operations, space manipulator.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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