摘要
This paper addresses the attitude control problem of a space tethered robot platform in the presence of unknown external disturbance caused by a connecting elastic tether. The tethergenerated unknown disturbance leads to tremendous challenges for attitude control of the platform.In this work, the perturbed attitude dynamics of the platform are derived with a consideration of the libration of the elastic tether, and then with the purpose of compensating the unknown disturbance, major attention is dedicated to develop a nonlinear disturbance observer based on gyros measurements, after which, an adaptive attitude scheme is proposed by combining the disturbance observer with a sliding mode controller. Finally, benefits from the observer based on an adaptive controller are validated by series of numerical simulations.
This paper addresses the attitude control problem of a space tethered robot platform in the presence of unknown external disturbance caused by a connecting elastic tether. The tethergenerated unknown disturbance leads to tremendous challenges for attitude control of the platform.In this work, the perturbed attitude dynamics of the platform are derived with a consideration of the libration of the elastic tether, and then with the purpose of compensating the unknown disturbance, major attention is dedicated to develop a nonlinear disturbance observer based on gyros measurements, after which, an adaptive attitude scheme is proposed by combining the disturbance observer with a sliding mode controller. Finally, benefits from the observer based on an adaptive controller are validated by series of numerical simulations.
基金
supported by the National Natural Science Foundation of China (11102018)
