Academic Journal
An Effective Approach Control Scheme for the Tethered Space Robot System
| العنوان: | An Effective Approach Control Scheme for the Tethered Space Robot System |
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| المؤلفون: | Zhongjie Meng, Panfeng Huang |
| المصدر: | International Journal of Advanced Robotic Systems, Vol 11 (2014) |
| بيانات النشر: | SAGE Publishing, 2014. |
| سنة النشر: | 2014 |
| المجموعة: | LCC:Electronics LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | The tethered space robot system (TSR), which is composed of a platform, a gripper and a space tether, has great potential in future space missions. Given the relative motion among the platform, tether, gripper and the target, an integrated approach model is derived. Then, a novel coordinated approach control scheme is presented, in which the tether tension, thrusters and the reaction wheel are all utilized. It contains the open-loop trajectory optimization, the feedback trajectory control and attitude control. The numerical simulation results show that the rendezvous between TSR and the target can be realized by the proposed coordinated control scheme, and the propellant consumption is efficiently reduced. Moreover, the control scheme performs well in the presence of the initial state's perturbations, actuator characteristics and sensor errors. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1729-8814 |
| Relation: | https://doaj.org/toc/1729-8814 |
| DOI: | 10.5772/58847 |
| URL الوصول: | https://doaj.org/article/1d790f8ea52b45098b752f0c59bcf411 |
| رقم الانضمام: | edsdoj.1d790f8ea52b45098b752f0c59bcf411 |
| قاعدة البيانات: | Directory of Open Access Journals |
| تدمد: | 17298814 |
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| DOI: | 10.5772/58847 |