Inertial parameter estimation and control of non-cooperative target with unilateral contact constraint  

作　　者：Shuang LI Yuchen SHE Jun SUN 

机构地区：[1]College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China [2]Shanghai Aerospace Control Technology Institute,Shanghai 201109,China [3]Shanghai Key Laboratory of Aerospace Intelligent Control Technology,Shanghai 201109,China

出　　处：《Chinese Journal of Aeronautics》2021年第3期225-240,共16页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China (Nos. 11972182,U1637207);sponsored by Qing Lan Project, Funded by Science and Technology on Space Intelligent Control Laboratory (No. HTKJ2019KL502012);Funded Project of Shanghai Aerospace Science and Technology (No. SAST2017-092)。

摘　　要：In this paper, the relative sliding motion between the target and the manipulator’s endeffector is considered and characterized as a unilateral contact constraint. A new possible solution is presented to estimate the inertial parameters of a non-cooperative target while the relative sliding motion exists. First, the detailed analysis of the dynamical model is presented, and a parameterexplicit linear time-varying model is obtained. Then, an extended state observer is constructed based on the new model, which can effectively estimate the unknown inertial parameters of the target when relative sliding motion exists. As the modified reactionless controller requires the knowledge of inertial parameters, a hybrid post-capture control scheme is also established based on the switch law between different controllers. The correctness and efficiency of the proposed algorithm are validated by numerical simulation, which proves a potential framework for the non-cooperative target postcapture operation.

关 键 词：Non-cooperative object On-orbit servicing Post-capture control Parameter estimation Unilateral contact constraint 

分 类 号：V52[航空宇航科学与技术—人机与环境工程]