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Impact Dynamic Modeling and Adaptive Target Capturing Control for Tethered Space Robots With Uncertainties
文献类型:期刊
作者:Huang, Panfeng[1]  Wang, Dongke[2]  Meng, Zhongjie[3]  Zhang, Fan[4]  Liu, Zhengxiong[5]  
机构:[1]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[2]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China |28th Research Institute, China Electronics Technology Corporation, Nanjing, 210007, China
[3]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[4]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
[5]National Key Laboratory of Aerospace Flight Dynamics, School of Astronautics, Northwestern Polytechnical University, Xi'an, 710072, China
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Peoples R China.; Huang, PF (reprint author), Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Peoples R China.
年:2016
期刊名称:IEEE-ASME TRANSACTIONS ON MECHATRONICS影响因子和分区
卷:21
期:5
页码范围:2260-2271
增刊:正刊
学科:工程学
收录情况:SCI(E)(WOS:000382472600006)  EI(20163502753779)  ESI高被引论文(000382472600006)  ESI热点论文(000382472600006)  
所属部门:航天学院
重要成果类型:ESI热点;ESI高被引
被引频次:59
人气指数:260
浏览次数:253
基金:National Natural Science Foundation of China [11272256, 60805034, 61005062]
关键词:Adaptive control; impedance control; target capturing; tethered space robot (TSR)
摘要:
Target capturing is an essential and key mission for tethered space robot (TSR) in future on-orbit servicing, and it is quite meaningful to investigate the stabilization method for TSR during capture impact with target. In this paper, the stabilization control of TSR during target capturing is studied. The space tether is described by the lumped mass model, and the impact dynamic model for target capturing is derived using the Lagrange method with the consideration of space tether length, in/out ...More
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