Optimal Trajectories and Robot Control for Detumbling a Non-Cooperative Satellite

摘要

This Note presented an optimal motion planning and controlscheme for a space manipulator in order to achieve momentum dissipationof a grasped tumbling satellite in minimum time or minimumenergy subject to the force and torque limits. First, the problem ofminimum-time or minimum-energy trajectories was formulated for aspace robot to bring a tumbling satellite to rest subject to the constraintsthat the magnitude of the interaction force and torque betweenthe manipulator’s end effector and the satellite remain below theirprescribed safe values. Subsequently, a closed-form solution to theproblem was found by making use of the application of the optimalcontrol theory and the Pontryagin minimum principle. Second, acooperative control in the task space for the space manipulator wasdeveloped based on the dynamics models of space manipulator andtarget satellite in order to realize the optimal maneuvers dictated bythe motion planner and at the same time to stabilize the attitude of thebase. Simulation results obtained from optimal and nonoptimal controlapproaches were presented to demonstrate the effectiveness ofthe proposed motion planning and control scheme for detumblingoperation of a target satellite using a space robot.