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所属单位：航空学院
发表刊物：ADVANCES IN SPACE RESEARCH
关键字：On-orbit assembly Passivity-based control Velocity-free Super-quadrics Collision avoidance
摘要：For the application of robotically assembling large space structures, a feedback control law is synthesized for transitional and rotational maneuvers of a 'tug' spacecraft in order to transport a flexible element to a desired position without colliding with other space bodies. The flexible element is treated as a long beam clamped to the 'tug' spacecraft modelled as a rigid hub. First, the physical property of passivity of Euler-Lagrange system is exploited to design the position and attitude controllers by taking a simpler obstacle-free control problem into account. To reduce sensing and actuating requirements, the vibration modes of the beam appendage are supposed to be not directly measured and actuated on. Besides, the requirements of measuring velocities are removed with the aid of a dynamic extension technique. Second, the bounding boxes in the form of super-quadric surfaces are exploited to enclose the maximal extents of the obstacles and the hub-beam spacecraft. The collision avoidance between bounding boxes is achieved by applying additional repulsive force and torque to the spacecraft based on the method of artificial potential field. Finally, the effectiveness of proposed control scheme is numerically demonstrated via case studies. (C) 2016 COSPAR. Published by Elsevier Ltd. All rights reserved.
ISSN号：0273-1177
是否译文：否
发表时间：2017-01-01
合写作者：陈提,金栋平,70200091
通讯作者：文浩