Paper Info
Title
Manipulator Actuated Integrated Position and Attitude Stabilization of Spacecraft Subject to External Disturbances
Abstract
This article addresses the dynamics and control problem of integrated position and attitude stabilization via manipulator actuation for spacecraft in proximity operations subject to external disturbances. Following recursive modeling philosophy, kinematics, and dynamics are first formulated for multiple-manipulator actuated coupled position and attitude system of spacecraft in the presence of external disturbances, where two vector factorizations are proposed to ensure a compact and explicit dynamic formulation, holding the inherent skew-symmetric property of the coefficient matrices. In view of the unconspicuous cascaded-like system structure, a nonlinear control scheme is designed following backstepping philosophy to drive the joints of manipulators causing reactions to robustly stabilize the spacecraft position and attitude. Toward this end, a reference trajectory prescribing the spacecraft motion is predesigned by means of polynomial functions ensuring well-behaviored performance. Then, as a key component, a second-order dynamic filter is constructed making use of the dynamics structure to generate the command joint motion capable of manipulator actuation. The rigorous closed-loop stability and robust performance analyses are undertaken within the Lyapunov framework. Moreover, three types of self-collisions possibly happening in the motion of multiple manipulators are considered and handled by three collision detection methods, which facilitates a collision-free trajectory shaping during the aforementioned reference trajectory design phase. Finally, numerical simulations are given to demonstrate the effect and robustness of the proposed control scheme.
Year
DOI
Venue
2022
10.1109/TSMC.2021.3112512
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Keywords
DocType
Volume
Dynamics and control,integrated translation and rotation stabilization,manipulator actuation,proximity operations,spacecraft
Journal
52
Issue
ISSN
Citations 
11
2168-2216
0
PageRank 
References 
Authors
0.34
30
2
Name
Order
Citations
PageRank
Feng Zhang14516.37
Guang-Ren Duan21735177.31