Design and adaptive control of a deployable manipulator for space detecting payload supporting

摘要

Micro-satellite has become an important trend of the platform design in the field of space environment detection. To avoid the disturbance caused by remanence of the spacecraft body, deployable manipulators are designed to support instruments such as magnetometer away from the spacecraft. In this paper, we will develop a kind of deployable manipulator for small spacecraft, which is characterized by small stowed volume, large magnification ratio and repeatedly retractability. Especially, aiming at the primary problems of parameters uncertainties and nonlinear friction at low velocity, an integral back-stepping adaptive control method is proposed to realize the dynamic compensation based on a modified LuGre friction model. Simulation results show that the developed compensation method can greatly reduce these effects to ensure robustness and improve the systemtacking accuracy further.