Journal Article10.2514/1.G001309
Adaptive Postcapture Backstepping Control for Tumbling Tethered Space Robot–Target Combination
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TL;DR: In this paper, the authors used a combination of a platform orbital frame and a combination body frame for a tethered space robot-target combination, where the acceleration of the gripper's thruster force is proportional to the tether tension and torque of the tether.
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Abstract: a = positive parameter atx aty atz T = linear acceleration due to the tether tension, m · s−2 ax ay az T = linear acceleration of the gripper’s thruster force, m · s−2 C k = matrix in coordinated desaturation controller d = position vector of the capture position, m Fl = tether tension, N I = inertia matrix of the combination, kg · m I0 = nominal value of combination’s inertia matrix, kg · m Kξ = positive-definite design matrix k2 = positive-definite design matrix m = mass of tethered space robot–target combination, kg Oxlylzl = space tether frame Oxpypzp = space platform orbital frame Oxtytzt = combination orbital frame Ox 0 t y 0 t z 0 t = combination body frame P = positive-definite design matrix R = transformationmatrix from platform orbital frame to combination body frame S k = constant positive weighting matrix Tl = tether control torque, Nm x y z T = centroid position of the combination in the platform orbital frame, m ΔI = inertia matrix uncertainty, kg · m e = positive parameter λ k = Lagrange multiplier λL = upper bound of disturbance λL = estimation values of disturbance μ = positive design parameter ξ = state of the auxiliary design system σ = modified Rodrigues parameters σd = desired modified Rodrigues parameters τ k = vector of optimal thruster force and tether tension τc = control torque of the combination, N · m τd = disturbing torques, N · m τt = control torque of the thruster, N · m τl = control torque of the tether, N · m ω = absolute angular velocity of the combination, rad · s−1 ωd = desired angular velocity of the combination, rad · s−1
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A review of space tether research
TL;DR: In this paper, the two principal categories of momentum exchange and electrodynamic tethers are discussed, with the principal aim of establishing useful sources of fundamental theory in the literature, as well as highlighting important technology and mission development papers.
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Dynamic surface control of constrained hypersonic flight models with parameter estimation and actuator compensation
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245
Sliding Mode Control Using Modified Rodrigues Parameters
John L. Crassidis,F. L. Markley +1 more
TL;DR: This work states that spacecraft pointing poses a complex problem involving nonlinear dynamics with either linear and/or nonlinear control laws, and closed-loop systems can provide robustness with respect to spacecraft modeling uncertainties and unexpected disturbances.