Optimal Trajectory Planning and Coordinated Tracking Control Method of Tethered Space Robot Based on Velocity Impulse

Abstract

The tethered space robot (TSR) is a new concept of space robot which consists of a robot platform, space tether and operation robot. This paper presents a multi-objective optimal trajectory planning and a coordinated tracking control scheme for TSR based on velocity impulse in the approaching phase. Both total velocity impulse and flight time are included in this optimization. The non-dominated sorting genetic algorithm is employed to obtain the optimal trajectory Pareto solution using the TSR dynamic model and optimal trajectory planning model. The coordinated tracking control scheme utilizes optimal velocity impulse. Furthermore, the PID controller is designed in order to compensate for the distance measurement errors. The PID control force is optimized and distributed to thrusters and the space tether using a simulated annealing algorithm. The attitude interferential torque of the space tether is compensated a using time-delay algorithm through reaction wheels. The simulation results show that the multi-objective optimal trajectory planning method can reveal the relationships among flight time, fuel consumption, planar view angle and velocity impulse number. This method can provide a series of optimal trajectory according to a number of special tasks. The coordinated control scheme can significantly save thruster fuel for tracking the optimal trajectory, restrain the attitude interferential torque produced by space tether and maintain the relative attitude stability of the operation robot.

In-plane adaptive retrieval control for a noncooperative target by tethered space robots

“…Even if the dynamic model is complex and highly nonlinear, there are still some important properties in equation (7).…”

“…6 Huang et al studied an optimal trajectory planning and tracking control method based on velocity impulse. 7 Williams proposed an open-loop optimal controller and a corresponding receding horizon controller for the tether deployment and retrieval. 8,9 Wen proposed an optimal feedback control by infinite horizon control theory.…”

Trajectory tracking control of upper limb rehabilitation robot based on optimal discrete sliding mode control

“…[9][10][11] To overcome the chattering problem in sliding mode control of rehabilitation robot trajectory tracking, many control strategies have been proposed, such as Park and Tsuji 12 proposed to apply a saturation function to the gain of sliding mode control. Huang et al 13 proposed a predictive control strategy to weaken the influence of the initial state, and further performed rolling optimization and feedback correction on the system state to improve the accuracy of trajectory tracking. Phu et al 14 proposed a semi-active control based on fuzzy control method (FLC) to achieve the vibration reduction effect by controlling the magnetorheological damper.…”

Target Capturing Control for Space Robots with Unknown Mass Properties: A Self-Tuning Method Based on Gyros and Cameras

“…A variable structure control strategy was presented by Fang [ 14 ], where a neural network controller is used as the dynamic compensator. Huang et al studied the tethered space robot (TSR), and presented several trajectory planning and control methods [ 15 , 16 , 17 ]. To stabilize the TSR during capture impact with target, Huang derived the impact dynamic model for target capturing and an adaptive robust controller was designed accordingly [ 18 ].…”