中国物理B ›› 2014, Vol. 23 ›› Issue (5): 54502-054502.doi: 10.1088/1674-1056/23/5/054502

• ELECTROMAGNETISM, OPTICS, ACOUSTICS, HEAT TRANSFER, CLASSICAL MECHANICS, AND FLUID DYNAMICS • 上一篇    下一篇

Reactionless robust finite-time control for manipulation of passive objects by free-floating space robots

郭胜鹏, 李东旭, 孟云鹤, 范才智   

  1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
  • 收稿日期:2013-09-02 修回日期:2013-11-18 出版日期:2014-05-15 发布日期:2014-05-15

Reactionless robust finite-time control for manipulation of passive objects by free-floating space robots

Guo Sheng-Peng (郭胜鹏), Li Dong-Xu (李东旭), Meng Yun-He (孟云鹤), Fan Cai-Zhi (范才智)   

  1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
  • Received:2013-09-02 Revised:2013-11-18 Online:2014-05-15 Published:2014-05-15
  • Contact: Guo Sheng-Peng E-mail:shengpengg@gmail.com
  • About author:45.40.-f; 45.40.Ln; 07.07.Tw

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摘要： On-orbit servicing requires efficient techniques for manipulating passive objects. The paper aims at developing a reactionless control method that drives the manipulator to manipulate passive objects with high precision, while inducing no disturbances to its base attitude. To this end, decomposition of the target dynamics from the base dynamics is discussed, so that they can be considered as two independent subsystems. A reactionless nonlinear controller is presented, which ensures high-precision manipulation of the targets and that the base orientation is unchanged. This is achieved by combining the robust finite-time control with the reaction null space. Finally, the performance of the proposed method is examined by comparing it with that of a reactionless PD controller and a pure finite-time controller.

关键词: reactionless motion, robust finite-time control, on-orbit manipulation

Abstract: On-orbit servicing requires efficient techniques for manipulating passive objects. The paper aims at developing a reactionless control method that drives the manipulator to manipulate passive objects with high precision, while inducing no disturbances to its base attitude. To this end, decomposition of the target dynamics from the base dynamics is discussed, so that they can be considered as two independent subsystems. A reactionless nonlinear controller is presented, which ensures high-precision manipulation of the targets and that the base orientation is unchanged. This is achieved by combining the robust finite-time control with the reaction null space. Finally, the performance of the proposed method is examined by comparing it with that of a reactionless PD controller and a pure finite-time controller.

Key words: reactionless motion, robust finite-time control, on-orbit manipulation

中图分类号:  (Dynamics and kinematics of rigid bodies)

  • 45.40.-f
45.40.Ln (Robotics) 07.07.Tw (Servo and control equipment; robots)