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In-plane adaptive retrieval control for a noncooperative target by tethered space robots
文献类型:期刊
作者:Meng, Zhongjie[1]  Wang, Bingheng[2]  Huang, Panfeng[3]  Liu, Zhengxiong[4]  
机构:[1]Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
[2]Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
[3]Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
[4]Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, China |National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, China
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, 127 West Youyi Rd, Xian 710072, Peoples R China.
年:2016
期刊名称:INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS影响因子和分区
卷:13
期:5
页码范围:1-12
增刊:正刊
学科:工程学
收录情况:SCI(E)(WOS:000394802900001)  EI(20164402972981)  
所属部门:航天学院
被引频次:1
人气指数:126
浏览次数:124
基金:National Natural Science Foundation of China [61005062, 11272256]; Fundamental Research Funds for the Central Universities [3102015BJ006]
关键词:Tethered space robots; dynamic model; retrieval method; adaptive control; anti-windup control
摘要:
Using tether to replace rigid arms, the tethered space robot has more flexibility and security than the traditional space robot, which gives it a wide application prospect in the satellite retrieval. After a noncooperative satellite is captured by the tethered space robot, the tethered space robot and the satellite compose a combination with uncertain mass, inertia, and tether junction position. The tether length, tether deflection, and combination attitude are coupled seriously and control inpu ...More
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