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Manipulator-actuated Adaptive Integrated Translational and Rotational Stabilization for Spacecraft in Proximity Operations with Control Constraint

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  • Control Theory and Applications
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Abstract

This paper tackles the problem of integrated translation and rotation stabilization of the spacecraft in proximity operations by proposing a novel manipulator actuation strategy. To do so, by theoretically integrating the attitude/position motion of the spacecraft and the joint motion of the manipulator, a coupled translational and rotational kinematics of the spacecraft with a single space manipulator mounted is formulated, where system unknown parameters and residual system momentum are taken into account and analyzed. Taking the joint motion as the control input, a projection-based adaptive control scheme is then developed such that the translation and rotation of the spacecraft can be robustly stabilized with the manipulator-based actuation. The closed-loop asymptotic stability is guaranteed within Lyapunov framework. Meanwhile, considering the constrained joint motion of the manipulator, the resulting control constraint issue is handled by developing an optimization based bound analysis method, which also facilitates the determination of control parameters. Two scenario numerical simulations demonstrate the effect of the designed control scheme.

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Author information

Authors and Affiliations

  1. Research and Development Center, China Academy of Launch Vehicle Technology, P.O. box 9200-38, NO. 1 Nan Da Hong Men Road, Beijing, 100076, China

    Feng Zhang

  2. Center for Control Theory and Guidance Technology, Harbin Institute of Technology, P.O. box 416, No. 92 West Da-Zhi Street, Harbin, 150001, China

    Guang-Ren Duan

Authors
  1. Feng Zhang
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  2. Guang-Ren Duan
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Corresponding author

Correspondence to Feng Zhang.

Additional information

Recommended by Associate Editor Andrea Cristofaro under the direction of Editor Myo Taeg Lim. This work is supported by the National Natural Science Foundation of China under grant 61703437.

Feng Zhang received his Ph.D. degree in control science and engineering in 2013 from Harbin Institute of Technology, China. He is currently a senior engineer in Research and Development Center at China Academy of Launch Vehicle Technology. His research interests include spacecraft guidance and control, and nonlinear control.

Guang-Ren Duan received his Ph. D. degree in control systems theory in 1989 from Harbin Institute of Technology, China. He is currently the director of the Center for Control Theory and Guidance Technology at Harbin Institute of Technology. He is a chartered engineer in the UK, a fellow of IEEE and a fellow of IEE. His research interests include robust control, missile autopilot design, and spacecraft control.

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Zhang, F., Duan, GR. Manipulator-actuated Adaptive Integrated Translational and Rotational Stabilization for Spacecraft in Proximity Operations with Control Constraint. Int. J. Control Autom. Syst. 16, 2103–2113 (2018). https://doi.org/10.1007/s12555-017-0689-7

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  • DOI: https://doi.org/10.1007/s12555-017-0689-7

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