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

doi:10.1088/1674-1056/23/5/054502

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.

Keywords: reactionless motion robust finite-time control on-orbit manipulation

Received: 02 September 2013
Revised: 18 November 2013
Accepted manuscript online:

PACS:	45.40.-f	(Dynamics and kinematics of rigid bodies)
	45.40.Ln	(Robotics)
	07.07.Tw	(Servo and control equipment; robots)

Corresponding Authors: Guo Sheng-Peng
E-mail: shengpengg@gmail.com

About author: 45.40.-f; 45.40.Ln; 07.07.Tw

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Guo Sheng-Peng (郭胜鹏), Li Dong-Xu (李东旭), Meng Yun-He (孟云鹤), Fan Cai-Zhi (范才智) Reactionless robust finite-time control for manipulation of passive objects by free-floating space robots 2014 Chin. Phys. B 23 054502

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

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