Capture and detumbling control for active debris removal by a dual-arm space robot  

作　　者：Dong HAN Gangqi DONG Panfeng HUANG Zhiqing MA 

机构地区：[1]National Key Laboratory of Aerospace Flight Dynamics,Northwestern Polytechnical University,Xi'an 710072,China [2]Research Center for Intelligent Robotics,School of Astronautics,Northwestern Polytechnical University,Xi'an 710072,China

出　　处：《Chinese Journal of Aeronautics》2022年第9期342-353,共12页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(Nos.61725303 and 61803312)。

摘　　要：Active debris removal(ADR) technology is an effective approach to remediate the proliferation of space debris, which seriously threatens the operational safety of orbital spacecraft. This study aims to design a controller for a dual-arm space robot to capture tumbling debris, including capture control and detumbling control. Typical space debris is considered as a non-cooperative target, which has no specific capture points and unknown dynamic parameters. Compliant clamping control and the adaptive backstepping-based prescribed trajectory tracking control(PTTC)method are proposed in this paper. First, the differential geometry theory is utilized to establish the constraint equations, the dynamic model of the chaser-target system is obtained by applying the Hamilton variational principle, and the compliance clamping controller is further designed to capture the non-cooperative target without contact force feedback. Next, in the post-capture phase,an adaptive backstepping-based PTTC is proposed to detumble the combined spacecraft in the presence of model uncertainties. Finally, numerical simulations are carried out to validate the feasibility of the proposed capture and detumbling control method. Simulation results indicate that the target detumbling achieved by the PTTC method can reduce propellant consumption by up to24.11%.

关 键 词：Active debris removal Adaptive backstepping control Compliant clamping control Prescribed trajectory tracking Space robot 

分 类 号：V44[航空宇航科学与技术—飞行器设计] TP242[自动化与计算机技术—检测技术与自动化装置]