The dynamics and open loop control of a small Active Debris Removal Vehicle (ADRV) with a lightweight deployable boom used to capture and tow orbital space debris hazards out of orbit is explored in this paper. The need to remove large non-functioning satellites and debris from hazardous orbits has proven to be complex and costly. A simplified and low cost solution is proposed in this paper in the form of a small satellite that would require low cost and have great potential. An overview of the current Orbital Debris problem for an ADRV is given along with related work in the field. A SmallSat ADRV concept is proposed along with key issues in the design. The nonlinear equations of motion for a two-body smallsat/debris configuration are formulated. An open loop simulation of the nonlinear equations of motion was created and results from the simulations are presented highlighting the possible advantage this concept has with inherent damping effects in the system. A perturbation technique is applied to linearize the nonlinear equations of the multibody problem with a strategy to compare the nonlinear and linear open-loop simulations. The linearized equations of motion can be used to analyze system stability, controllability and observability. The path forward is outlined for the stability and control of the combined ADRV/debris-object multibody system with the derived linear system and a close loop control law.
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