Observer-based control for the platform of a tethered space robot |
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Authors: | Guang ZHAI Heming ZHENG Bo ZHANG |
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Institution: | 1. Aerospace Engineering School, Beijing Institute of Technology. Beijing 100081, China;2. Aerospace System Engineering Shanghai, Shanghai 201109, China |
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Abstract: | This paper addresses the attitude control problem of a space tethered robot platform in the presence of unknown external disturbance caused by a connecting elastic tether. The tether-generated unknown disturbance leads to tremendous challenges for attitude control of the platform. In this work, the perturbed attitude dynamics of the platform are derived with a consideration of the libration of the elastic tether, and then with the purpose of compensating the unknown disturbance, major attention is dedicated to develop a nonlinear disturbance observer based on gyros measurements, after which, an adaptive attitude scheme is proposed by combining the disturbance observer with a sliding mode controller. Finally, benefits from the observer based on an adaptive controller are validated by series of numerical simulations. |
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Keywords: | Adaptive control Attitude dynamics Disturbance observer Sliding mode control Tethered space robot |
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