Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller  

作　　者：ZANG Yue ZHANG Yao HU Quan LI Mou CHEN Yujun 

机构地区：[1]School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China [2]China Academy of Space Technology,Beijing 100029,China

出　　处：《Journal of Systems Engineering and Electronics》2024年第3期753-768,共16页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(11972077,11672035)。

摘　　要：Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.

关 键 词：nutating target contact detumbling dual-arm space robot deformable end-effector prescribed performance controller 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]