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| Impact dynamics simulation and robust control for stabilizing of a space manipulator capturing satellite |
| Received:January 04, 2013 Revised:June 18, 2013 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx201403006 |
| KeyWord:free-floating space manipulator satellite capturing impact dynamics stabilizing robust control |
| Author | Institution |
| 董楸煌 |
福州大学 机械工程及自动化学院, 福州 |
| 陈力 |
福州大学 机械工程及自动化学院, 福州 |
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| Abstract: |
| The impact dynamics and post-impact control for stabilizing of a free-floating space manipulator capturing an unknown motion satellite are studied.The dynamical models of the space manipulator and satellite are separately derived from second Lagrange equation and Newton-Euler equation;the impact effect is calculated base on kinematics and impact force transmission relationship;after the satellite capturing,by combining the above dynamics models of space manipulator and satellite,the post-impact dynamics model of the combinational system is presented;and then an augmented robust control algorithm is designed for stabilizing the motion of the post-impact combinational system.This control can be employed under the space manipulator base's position uncontrolled,and the control equation still keep linear for the uncertain satellite parameters.Finally,the simulation results show the system motion state of the capture process,and verify the validity of the above robust control for stabilizing. |