Passivity-Based Force/Position Active Disturbance Rejection Control of Dual-Arm Space Robot Clamping Capture Spacecraft

摘要

The impact effect and post-capture passivity-based force/position active disturbance rejection control of dual-arm free-floating space robot clamping capture non-cooperative spacecraft are studied. First, the dynamic models of the dual-arm space robot and the target spacecraft before capture are obtained by multi rigid body dynamics method. After that, based on the law of conservation of momentum, the constraints of kinematics and the law of force transfer, the impact effect caused by collision of capture process is analyzed. Finally, the integrated dynamic model of the closed chain composite system is derived. On the basis, a force/position active disturbance rejection control scheme based on passivity theory is proposed for post-capture closed chain composite system with consider actuator saturation, joint friction and external disturbance, which can achieve the coordinated control of the internal force and position of the target spacecraft. The method uses the extended state observer to realize the dynamic estimation of the disturbance, then combine with passivity theory to compensate it, which can improve disturbance rejection ability for the impact effect of capture effectively. The numerical simulation results verify the effectiveness of the control scheme.