Pose Stabilization Control for Base of Combined System Using Feedforward Compensation PD Control During Target...

Area of Science:

• Robotics
• Aerospace Engineering
• Control Systems

Background:

• Satellite transposition missions are critical for space operations.
• Dynamic coupling during these missions causes base attitude disturbances in space robots.
• Existing control methods struggle with precise base stabilization.

Purpose of the Study:

• To develop and validate a robust pose stabilization method for the base of a post-capture combined system.
• To address base attitude disturbances during target satellite transposition.
• To enhance the precision and stability of space robot operations.

Main Methods:

• Analysis of the mission sequence for target satellite repositioning using a discrete-serpentine heterogeneous dual-arm space robot (DSHDASR).
• Establishment of a dynamics model for the combined DSHDASR-target satellite system via Newton-Euler recursive formulation.
• Development of a pose stabilization strategy integrating dynamic feedforward compensation with Proportional-Derivative (PD) control.

Main Results:

• Simulations demonstrated significant improvements in position and attitude accuracy compared to traditional algorithms.
• The proposed method effectively reduced base pose errors under high-load and disturbed conditions.
• Validation through a co-simulation model confirmed the method's efficacy.

Conclusions:

• The feedforward compensation PD control method offers superior base pose stabilization for space robots during satellite transposition.
• This approach enhances mission reliability and precision in complex space environments.
• The study provides a valuable control strategy for future space robotic missions.