Dynamics and Control of Noncooperative Space Target Capture Using a Flexible Manipulator
The capture of noncooperative space targets is an important research topic in the aerospace field. Although a lot of research has been done, capturing remains a significant challenge, particularly when using a flexible manipulator. In this paper, the dynamic modeling and control problems of capturin...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2024/5546122 |
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| _version_ | 1850182122356080640 |
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| author | Kang-Hao Wang Ru-Hao Wang Xiao-Feng Liu Yu-Lei Fu Guo-Ping Cai |
| author_facet | Kang-Hao Wang Ru-Hao Wang Xiao-Feng Liu Yu-Lei Fu Guo-Ping Cai |
| author_sort | Kang-Hao Wang |
| collection | DOAJ |
| description | The capture of noncooperative space targets is an important research topic in the aerospace field. Although a lot of research has been done, capturing remains a significant challenge, particularly when using a flexible manipulator. In this paper, the dynamic modeling and control problems of capturing a noncooperative spacecraft using a long-span flexible manipulator are investigated. Firstly, a modified model is presented to describe the flexibility of the manipulator arising from both its links and joints, in which the flexibility of the joint is considered as an elastic constraint of links. Additionally, we provide the frequency and mode functions of this model and derive the dynamic equations of the flexible manipulator based on the floating frame of reference formulation. Secondly, this paper employs the position–based damping control method to design the capturing controller. A simulation example of capturing a tumbling spacecraft in three dimensions is presented. The simulation results show that the designed control method can quickly eliminate vibration and achieve stable contact retention for at least 3 s when capturing noncooperative spacecraft. |
| format | Article |
| id | doaj-art-4c852d88aa0d4ba28d6cf29bca93ea04 |
| institution | OA Journals |
| issn | 1687-5974 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-4c852d88aa0d4ba28d6cf29bca93ea042025-08-20T02:17:41ZengWileyInternational Journal of Aerospace Engineering1687-59742024-01-01202410.1155/2024/5546122Dynamics and Control of Noncooperative Space Target Capture Using a Flexible ManipulatorKang-Hao Wang0Ru-Hao Wang1Xiao-Feng Liu2Yu-Lei Fu3Guo-Ping Cai4State Key Laboratory of Ocean EngineeringState Key Laboratory of Ocean EngineeringState Key Laboratory of Ocean EngineeringShanghai Institute of CeramicsState Key Laboratory of Ocean EngineeringThe capture of noncooperative space targets is an important research topic in the aerospace field. Although a lot of research has been done, capturing remains a significant challenge, particularly when using a flexible manipulator. In this paper, the dynamic modeling and control problems of capturing a noncooperative spacecraft using a long-span flexible manipulator are investigated. Firstly, a modified model is presented to describe the flexibility of the manipulator arising from both its links and joints, in which the flexibility of the joint is considered as an elastic constraint of links. Additionally, we provide the frequency and mode functions of this model and derive the dynamic equations of the flexible manipulator based on the floating frame of reference formulation. Secondly, this paper employs the position–based damping control method to design the capturing controller. A simulation example of capturing a tumbling spacecraft in three dimensions is presented. The simulation results show that the designed control method can quickly eliminate vibration and achieve stable contact retention for at least 3 s when capturing noncooperative spacecraft.http://dx.doi.org/10.1155/2024/5546122 |
| spellingShingle | Kang-Hao Wang Ru-Hao Wang Xiao-Feng Liu Yu-Lei Fu Guo-Ping Cai Dynamics and Control of Noncooperative Space Target Capture Using a Flexible Manipulator International Journal of Aerospace Engineering |
| title | Dynamics and Control of Noncooperative Space Target Capture Using a Flexible Manipulator |
| title_full | Dynamics and Control of Noncooperative Space Target Capture Using a Flexible Manipulator |
| title_fullStr | Dynamics and Control of Noncooperative Space Target Capture Using a Flexible Manipulator |
| title_full_unstemmed | Dynamics and Control of Noncooperative Space Target Capture Using a Flexible Manipulator |
| title_short | Dynamics and Control of Noncooperative Space Target Capture Using a Flexible Manipulator |
| title_sort | dynamics and control of noncooperative space target capture using a flexible manipulator |
| url | http://dx.doi.org/10.1155/2024/5546122 |
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