期刊
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
卷 44, 期 5, 页码 967-982出版社
AMER INST AERONAUTICS ASTRONAUTICS
DOI: 10.2514/1.G005585
关键词
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This paper addresses the unexpected contact handling problem for a free-flying orbital robot by developing a nonlinear observer and proposing a reaction control strategy. The performance of the observer and the controller is assessed through a numerical example.
This paper addresses the unexpected contact handling problem for a free-flying orbital robot. A nonlinear observer is developed to detect, isolate, and estimate a collision. Then, a reaction control strategy is proposed, which aims at avoiding the buildup of the contact force and possible instabilities. It is proved that the controlled system is input-to-state stable. The performance of the observer and the controller is assessed through a numerical example featuring a 7-degree-of-freedom arm mounted on a spacecraft and a realistic measurement model. The spacecraft is equipped with thrusters and variable-speed control moment gyros.
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