Affiliation of Author(s):航天学院

Journal:Acta Astronaut

Abstract:This paper investigates the attitude control problem of a two-body combined spacecraft by considering the unilateral contact constraint on the active spacecraft's end-effector. Previous work has shown that this constraint may cause a relative sliding motion between the end-effector and the target, which has a large impact on the combined spacecraft dynamics and postcapture control process. In this paper, an extra degree-of-freedom approach is adopted and a new dynamical model is developed to efficiently describe the movement of the combined spacecraft in both rigid connecting and relative motion modes. A new control law is also developed to reduce the relative sliding motion between the end-effector and the target while controlling the attitude of the combined system. Simulation results show that the extra degree-of-freedom model proposed in this paper has the correct dynamic properties and that the newly developed controller is a significant improvement over traditional PD controllers in maintaining the geometric configuration of the combined spacecraft. © 2019 IAA

ISSN No.:0094-5765

Translation or Not:no

Date of Publication:2019-12-01

Co-author:She, Yuchen

Correspondence Author:李爽