›› 2015, Vol. 35 ›› Issue (6): 20-.doi: 10.3780/j.issn.1000-758X.2015.06.003

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AdaptiveControlforStabilizingtheCouplingSystemwithDisturbanceafterCapturingSpacecraft

 WANG  Yi-Ping, ZHAO  Yu-Shan, SHI  Peng, ZHENG  Han-Qing   

  1. (1SchoolofAstronautics,BeihangUniversity,Beijing100191)
    (2ShanghaiAerospaceControlTechnologyInstitute,Shanghai200233)
  • Received:2015-05-08 Revised:2015-06-08 Online:2015-12-25 Published:2015-12-25

Abstract: Anadaptivecontrolbasedondynamicsmodelforstabilizingthecouplingsystemwasproposed,forthecouplingsystemmaybeunstableduetothechangeinmasscharacteristicsandmomentumofthecouplingsystem.Thedynamicsofsystemwasmodelledandthevelocitiesofcouplingsystemwerederivedfromtheimpactmodel.Basedonthedynamicmodeldeveloped,thelinearfeedbackcontrollerwasdesigned.Becauseoftheuncertaintyonthedynamicparametersanddisturbance,thedynamicmodelwaslinearlyparametricwithrespecttoagroupofunknowndynamicparametersandunknowndisturbance.Then,theadaptivelinearfeedbackcontrollerwasdesigned.UsingathreeDOFplanarspacemanipulator,thenumericalsimulationwascarriedout.Thesimulationresultsconfirmthecontrollerisfeasibleandeffective.

Key words: Couplingsystem, ImpactdynamicsDisturbanceLinearization;Adaptivecontrol;InorbitcaptureSpacemanipulator