Attitude Control of Targets Captured by Tethered Space Robots Based on the Quaternion Theory

XU Fang-nuan; WANG Bo; DENG Zi-chen; LI Qing-jun; WEI Yi

doi:10.21656/1000-0887.380168

Volume 38 Issue 12

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Article Navigation > Applied Mathematics and Mechanics > 2017 > 38(12): 1309-1318

XU Fang-nuan, WANG Bo, DENG Zi-chen, LI Qing-jun, WEI Yi. Attitude Control of Targets Captured by Tethered Space Robots Based on the Quaternion Theory[J]. Applied Mathematics and Mechanics, 2017, 38(12): 1309-1318. doi: 10.21656/1000-0887.380168

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Attitude Control of Targets Captured by Tethered Space Robots Based on the Quaternion Theory

doi: 10.21656/1000-0887.380168

¹Department of Engineering Mechanics, Northwestern Polytechnical University, Xi’an 710072, P.R.China;²QIAN Xuesen Laboratory of Space Technology, Beijing 100094, P.R.China

Funds: The National Natural Science Foundation of China（11432010）

Received Date: 2017-06-16
Rev Recd Date: 2017-10-26
Publish Date: 2017-12-15

Abstract

Abstract

For better understanding of tethered space robot systems to be used in the future onorbit service, the attitude control problem of targets captured by tethered space robots was investigated. Firstly, based on the quaternion theory, the governing equations for the combined body of the target and the tethered space robot were constructed. Secondly, a projected RungeKutta method was developed for the issue of constraint systems, and this method is explicit and can preserve the norm of quaternions. Finally, a numerical example was given to validate the proposed model and the numerical method, where 3 kinds of control strategies were compared in terms of control effectiveness and energy consumption.
- tethered space robot,
- quaternion,
- projected Runge-Kutta method,
- attitude control

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References(21)

References

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