Optimal control of a space manipulator for detumbling of a target satellite
Optimal control of a space manipulator for detumbling of a target satellite
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DOI：
10.1109/robot.2009.5152235
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发表时间：
2009-05
期刊：
影响因子：
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通讯作者：
Farhad Aghili
中科院分区：
文献类型：
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作者：
Farhad Aghili
机器人捕获翻滚的目标卫星是指空间机器人的手与目标抓取点以相同的速度到达交会点，然后跟踪飞行器利用抓取装置与目标机械连接。研究了空间机械臂在捕获后阶段的最优控制问题，使翻滚的非合作卫星在最短时间内静止，同时保证机械臂与目标之间的相互作用力矩保持在一定值以下。首先，我们寻求目标卫星受到力矩限制的快速去翻滚机动。应用最优控制理论和庞特里亚金原理获得了最优路径规划问题的封闭解，给出了大量的见解：相互作用力矩的矢量与瞬时角动量矢量的方向相反。其次，空间机器人和目标卫星的组合系统，作为机械手的有效载荷，开发了协调控制，使机器人跟踪最优路径，同时调整追逐车辆的姿态到一个期望值。一个初步的说明性的例子被附上。
Robotic capture of a tumbling target-satellite means that the space robot's hand and the target grapple point arrive at a rendezvous point with the same velocity and then the chase vehicle mechanically connects into the target using a grapple device. This paper is focused on optimal control of the space manipulator in the postcapture phase so as to bring the tumbling non-cooperative satellite to rest in minimum time while ensuring that the magnitude of the interaction torque between the manipulator and target remains below a prescribed value. First, we seek fast detumbling maneuvers of the target satellite subjected to the torque restriction. The theory of optimal control and Pontryagin's principle are applied to obtain a closed-form solution for the optimal path planning problem, giving a great deal of insight: the vector of the interaction torque is aligned opposite to the direction of the instantaneous angular momentum vector. Second, a coordination control for combined system of the space robot and the target satellite, which acts as the manipulator payload, is developed so that the robot tracks the optimal path while regulating the attitude of the chase vehicle to a desired value. A preliminary illustrative example is appended.