Mobile base control for motion reconstruction of orbiting vehicles

摘要

A ground-based experiment system is developed in this paper. The system which is realized by a mobile base, is designed to reconstruct the translational motion of orbiting vehicles based on similitude investigation. The desired trajectory of orbiting vehicles is obtained by similitude investigation. Then a controller is designed by a non-linear method to make the mobile base tracking the time-parameterizing trajectory. The derived controller consists of two parts: feedforward control considering reference variations, and state-dependent error feedback control. Stability analysis of this nonlinear systems is doing using Lyapunov theory. The derived controller is concise, so it can run on the real-time hardware system. The effectiveness of the proposed control algorithm is demonstrated through simulation.