|Manipulator-actuated Adaptive Integrated Translational and Rotational Stabilization for Spacecraft in Proximity Operations with Control Constraint
Feng Zhang* and Guang-Ren Duan
International Journal of Control, Automation, and Systems, vol. 16, no. 5, pp.2103-2113, 2018
Abstract : "This paper tackles the problem of integrated translation and rotation stabilization of the spacecraft in
proximity operations by proposing a novel manipulator actuation strategy. To do so, by theoretically integrating the
attitude/position motion of the spacecraft and the joint motion of the manipulator, a coupled translational and rotational
kinematics of the spacecraft with a single space manipulator mounted is formulated, where system unknown
parameters and residual system momentum are taken into account and analyzed. Taking the joint motion as the control
input, a projection-based adaptive control scheme is then developed such that the translation and rotation of the
spacecraft can be robustly stabilized with the manipulator-based actuation. The closed-loop asymptotic stability is
guaranteed within Lyapunov framework. Meanwhile, considering the constrained joint motion of the manipulator,
the resulting control constraint issue is handled by developing an optimization based bound analysis method, which
also facilitates the determination of control parameters. Two scenario numerical simulations demonstrate the effect
of the designed control scheme."
"Adaptive control, control constraint, integrated translation and rotation control, proximity operations, space manipulator."