Deployment control of tethered space systems with explicit velocity constraint and invariance principle

摘要

This paper develops control laws for the deployment of tethered spacecraft systems with an explicit non-negative velocity constraint using invariance principle of control systems. It addresses a class of space tether deployment control problems where the tether is deployed out only. This implies the tether deployment velocity must be always positive and approaches to zero at the end of deployment. This non-negative velocity constraint is explicitly satisfied in the proposed tension control laws by transforming it into an invariance property of control system. Two control laws with nonlinear feedback are derived with two complementary manifolds. The Lyapunov stability of the control laws is proved and the controllability of the tethered spacecraft system with tension input is analyzed. Finally, the effectiveness of control laws is demonstrated by numerical simulation.