Attitude Takeover Control of Failed Spacecraft
- 1st Edition - July 11, 2024
- Imprint: Elsevier
- Authors: Panfeng Huang, Fan Zhang, Yingbo Lu, Haitao Chang, Yizhai Zhang
- Language: English
- Paperback ISBN:9 7 8 - 0 - 4 4 3 - 2 4 7 4 4 - 6
- eBook ISBN:9 7 8 - 0 - 4 4 3 - 2 4 7 4 5 - 3
Attitude Takeover Control of Failed Spacecraft is both necessary and urgently required. This book provides an overview of the topic and the role of space robots in handling variou… Read more
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Request a sales quoteAttitude Takeover Control of Failed Spacecraft is both necessary and urgently required. This book provides an overview of the topic and the role of space robots in handling various types of failed spacecraft. The book divides the means of attitude takeover control into three types, including space manipulator capture, tethered space robot capture, and cellular space robot capture. Spacecraft attitude control is the process of controlling the orientation of a spacecraft (vehicle or satellite) with respect to an inertial frame of reference or another entity such as the celestial sphere, certain fields, and nearby objects, etc.
It has become increasingly important: with the increasing number of human space launch activities, the number of failed spacecraft has increased dramatically in recent years.
It has become increasingly important: with the increasing number of human space launch activities, the number of failed spacecraft has increased dramatically in recent years.
- Proposes a means of attitude takeover control of failed spacecraft
- Provides a comprehensive overview of current attitude takeover control technologies of space robots
- Covers space manipulator capture, tethered space robot capture, and cellular space robot capture
Aerospace departments, and scientific research institutions such as universities and research institutes conduct research on aerospace technologies
1 Introduction
1.1 Background of Takeover Control
1.2 Manners of Takeover Control
1.2.1 Rigid Connection Capturing
1.2.2 Flexible Connection Capturing
1.2.3 Cellular Space Robot Capturing
1.3 Research Contents and Chapter Arrangement
Part I Space Manipulator Capturing
2 Trajectory Prediction of Space Robot for Capturing Non-Cooperative Target
2.1 Dynamics Model
2.2 EFIR/DFT Filter Design
2.2.1 EFIR Filter Design
2.2.2 DFT Filter Design
2.3 Experiment Realization and Discussion
3 Combined Spacecraft Stabilization Control after Multiple Impacts During Space Robot Capture the Tumbling Target
3.1 Attitude Dynamics of the Combined Spacecraft and Contact Dynamics
3.1.1 Problem Description
3.1.2 Attitude Dynamics and Kinematics
3.1.3 Contact Detection Algorithm and Contact Dynamics Model
3.2 Stability Control System Design for Combined Spacecraft
3.2.1 Conventional Sliding Mode Controller Design
3.2.2 Improved Sliding Mode Controller Design
3.2.3 Control Redistribution Based on Pseudo-inverse
3.3 Numerical Simulations and Experiments
4 Attitude Takeover Control of a Failed Spacecraft without Parameter Uncertainties
4.1 Attitude Stability Takeover Control of Target Spacecraft Based on Reconstruction of Reaction Wheel Control System
4.1.1 Attitude Error Dynamics of the Combined Spacecraft
4.1.2 Reconfigurable Control System Design for the Combined Spacecraft
4.1.3 Control Re-allocation Based on Dynamic Control Allocation
4.1.4 Numerical Simulations
4.2 Attitude Coordinated Control for Docked Spacecraft Based on Estimated Coupling Torque of the Space Manipulator
4.2.1 Attitude Error Dynamics of Docked Spacecraft
4.2.2 Coordinated Planning of Docked Spacecraft Attitude and Space Manipulator
4.2.3 Coordinated Control of Docked Spacecraft Attitude and Space Manipulator
4.2.4 Numerical Simulations
5 Reconfigurable Spacecraft Attitude Takeover Control in Post-capture of Target by Space Manipulators
5.1 Model of Combined Spacecraft
5.1.1 Problem Description
5.1.2 Kinematics of Space Manipulator
5.1.3 Kinematics of the Combined Spacecraft
5.1.4 Dynamics of the Combined Spacecraft
5.2 Reconfigurable Control of the Combined Spacecraft
5.2.1 Adaptive Dynamic Inverse Control of the Combined Spacecraft
5.2.2 Modified Adaptive Dynamic Inverse Control of the Combined Spacecraft
5.3 Control Reallocation of the Combined Spacecraft
5.3.1 Reconfiguration of Thruster
5.3.2 Control Reallocation Based on Null-Space Intersections
5.4 Numerical Simulation
6 Attitude Takeover Control of a Failed Spacecraft with Parameter Uncertainties
6.1 Model of Combined Spacecraft
6.1.1 Dynamics Model of the Combined Spacecraft
6.1.2 Dynamics Model of the Combined Spacecraft with Parameter Uncertainties
6.2 Command Filtering Adaptive Backstepping Reconfigurable Control
6.2.1 Command Filter
6.2.2 Command Filtering Adaptive Back-stepping Control
6.2.3 Projection Operator
6.3 Control Allocation of the Combined Spacecraft
6.4 Numerical Simulations
Part II Tethered Space Robot Capturing
7 Adaptive Control for Space Debris Removal with Uncertain Kinematics, Dynamics and States
7.1 Kinematics and Dynamics
7.1.1 System Design and Mission Scenario
7.1.2 Mathematical Model Description
7.1.3 Kinematics and Dynamics
7.2 Adaptive Control Scheme
7.2.1 Formulation of the Problem
7.2.2 Adaptive Controller
7.2.3 Modification of the Adaptive Controller
7.2.4 Discussion
7.3 Numerical Simulations
7.3.1 Simplification of the Dynamics
7.3.2 Simulation Results
8 Adaptive Neural Network Dynamic Surface Control of the Post-Capture Tethered System with Full State Constraints
8.1 Mathematical Model and Problem Formulation
8.2 Controller Design
8.2.1 Adaptive Neural Network Dynamic Surface Controller Design
8.2.2 Stability Analysis
8.3 Numerical Simulations
9 Adaptive Prescribed Performance Control for the Postcapture Tethered Combination via Dynamic Surface Technique
9.1 Dynamic Modelling
9.1.1 Dynamics Of the Post-Capture Tethered Combination Considering Modeling Uncertainty
9.1.2 Dynamics of the Post-Capture Tethered Combination Considering Modeling and Measurement Uncertainty
9.2 Control System Design and Stability Analysis
9.2.1 Desired State Analysis
9.2.2 Controller Design
9.2.3 Stability Analysis
9.3 Numerical Simulations
10 An Energy Based Saturated Controller for the Postcapture Underactuated Tethered System
10.1 Dynamic Model of the Postcapture Underactuated Tethered System
10.2 Controller Design and Stability Analysis
10.2.1 Equilibrium Point Analysis
10.2.2 Energy Based Controller Design and Stability Analysis
10.2.3 Energy Based Saturated Controller Design and Stability Analysis
10.3 Numerical Simulations
11 Capture Dynamics and Net Closing Control for Tethered Space Net Robot
11.1 Dynamics Model
11.2 Contact Dynamic Model
11.2.1 Contact Detection
11.2.2 Normal Contact Force
11.3 Capture Simulation and Analysis
11.3.1 Capture Simulation Results
11.3.2 Criterion of Successful Net Capture
11.3.3 Capture Analysis
11.4 Net Closing Control Scheme
11.4.1 Statement of Problem
11.4.2 Sliding Mode Control Law
11.4.3 Nonhomogeneous Disturbance Observer Design
11.4.4 Numerical Simulations
12 Impulsive Super-Twisting Sliding Mode Control for Space Debris Capturing via Tethered Space Net Robot
12.1 System Description
12.2 Preliminaries
12.2.1 Impulsive Control
12.2.2 Adaptive Super-twisting SMC
12.3 Design of Control Scheme
12.3.1 Problem Statement
12.3.2 Control Scheme Design
12.3.3 Control Scheme with Approximation of Delta Function
12.3.4 IASTW Control Scheme Design for TSNR
12.4 Numerical Simulations
12.4.1 Natural Capturing Case
12.4.2Controlled Capture Case
Part III Cellular Space Robot Capturing
13 A Self-Reconfiguration Planning Strategy for Cellular Satellites
13.1 Syetem Description
13.2 Design of Assembling Cell
13.3 Design of Self-Reconfiguration Planning Algorithm
13.3.1 Overall Algorithm Description
13.3.2 Task Planning
13.3.3 Path Planning
13.3.4 Joint Planning
13.4 Numerical Simulations
14 Reinforcement-Learning-Based Task Planning for Self- Reconfiguration of Cellular Space Robot
14.1 System Description
14.2 Mathematical Preparation
14.2.1 Configuration Description of the Self-Reconfiguration for Cellular Space Robot
14.2.2 Similarity Evaluation of Two Configurations
14.2.3 Legal Action Set for Cell Move
14.2.4 Complexity Analysis of Legal Action Set
14.3 Proposed Reinforcement Learning-Based Task Planning
14.3.1 Overall Diagram of the Proposed Task Planning
14.3.2 Monte-Carlo Tree Search
14.4 Validations and Discussions
15 Interactive Inertial Parameters Identification for Spacecraft Takeover Control Using Cellular Space Robot
15.1 Modeling and Formulation
15.1.1 Dynamic Model
15.1.2 Formulation for Mass Identification
15.1.3 Formulation for Inertial Tensor Identification
15.2 Interactive Model Identification Method
15.3 Numerical Simulation
15.3.1 Simulation Results
15.3.2 Analysis and Discussion
16 Spacecraft Attitude Takeover Control via Cellular Space Robot with Distributed Control Allocation
16.1 System Description
16.2 Dynamic Model for Attitude Takeover Control
16.2.1 Definition of the Coordinate System
16.2.2 Dynamic Model of the Aggregated System
16.3 Takeover Controller with Distributed Control Allocation
16.3.1 NFTSM Controller Design
16.3.2 Distributed Control Allocation Algorithm for Redundant Cells
16.3.3 Energy Balance Factor
16.4 Numerical Simulations
17 Spacecraft Attitude Takeover Control via Cellular Space Robot with Saturation
17.1 System Description
17.2 Cellular Interaction-Based Task Allocation Algorithm
17.2.1 Auction Quotation Stage
17.2.2 Consistency Negotiation Stage
17.3 Definition of the Profit Function
17.3.1 Capacity Matching
17.3.2 Residual Energy
17.3.3Actuator Output Limitations
17.4 Numerical Simulations
17.4.1 Stochastic Initial Angular Momentum Analysis
17.4.2 Parameters Influenced Analysis
Appendix A: Conclusion
1.1 Background of Takeover Control
1.2 Manners of Takeover Control
1.2.1 Rigid Connection Capturing
1.2.2 Flexible Connection Capturing
1.2.3 Cellular Space Robot Capturing
1.3 Research Contents and Chapter Arrangement
Part I Space Manipulator Capturing
2 Trajectory Prediction of Space Robot for Capturing Non-Cooperative Target
2.1 Dynamics Model
2.2 EFIR/DFT Filter Design
2.2.1 EFIR Filter Design
2.2.2 DFT Filter Design
2.3 Experiment Realization and Discussion
3 Combined Spacecraft Stabilization Control after Multiple Impacts During Space Robot Capture the Tumbling Target
3.1 Attitude Dynamics of the Combined Spacecraft and Contact Dynamics
3.1.1 Problem Description
3.1.2 Attitude Dynamics and Kinematics
3.1.3 Contact Detection Algorithm and Contact Dynamics Model
3.2 Stability Control System Design for Combined Spacecraft
3.2.1 Conventional Sliding Mode Controller Design
3.2.2 Improved Sliding Mode Controller Design
3.2.3 Control Redistribution Based on Pseudo-inverse
3.3 Numerical Simulations and Experiments
4 Attitude Takeover Control of a Failed Spacecraft without Parameter Uncertainties
4.1 Attitude Stability Takeover Control of Target Spacecraft Based on Reconstruction of Reaction Wheel Control System
4.1.1 Attitude Error Dynamics of the Combined Spacecraft
4.1.2 Reconfigurable Control System Design for the Combined Spacecraft
4.1.3 Control Re-allocation Based on Dynamic Control Allocation
4.1.4 Numerical Simulations
4.2 Attitude Coordinated Control for Docked Spacecraft Based on Estimated Coupling Torque of the Space Manipulator
4.2.1 Attitude Error Dynamics of Docked Spacecraft
4.2.2 Coordinated Planning of Docked Spacecraft Attitude and Space Manipulator
4.2.3 Coordinated Control of Docked Spacecraft Attitude and Space Manipulator
4.2.4 Numerical Simulations
5 Reconfigurable Spacecraft Attitude Takeover Control in Post-capture of Target by Space Manipulators
5.1 Model of Combined Spacecraft
5.1.1 Problem Description
5.1.2 Kinematics of Space Manipulator
5.1.3 Kinematics of the Combined Spacecraft
5.1.4 Dynamics of the Combined Spacecraft
5.2 Reconfigurable Control of the Combined Spacecraft
5.2.1 Adaptive Dynamic Inverse Control of the Combined Spacecraft
5.2.2 Modified Adaptive Dynamic Inverse Control of the Combined Spacecraft
5.3 Control Reallocation of the Combined Spacecraft
5.3.1 Reconfiguration of Thruster
5.3.2 Control Reallocation Based on Null-Space Intersections
5.4 Numerical Simulation
6 Attitude Takeover Control of a Failed Spacecraft with Parameter Uncertainties
6.1 Model of Combined Spacecraft
6.1.1 Dynamics Model of the Combined Spacecraft
6.1.2 Dynamics Model of the Combined Spacecraft with Parameter Uncertainties
6.2 Command Filtering Adaptive Backstepping Reconfigurable Control
6.2.1 Command Filter
6.2.2 Command Filtering Adaptive Back-stepping Control
6.2.3 Projection Operator
6.3 Control Allocation of the Combined Spacecraft
6.4 Numerical Simulations
Part II Tethered Space Robot Capturing
7 Adaptive Control for Space Debris Removal with Uncertain Kinematics, Dynamics and States
7.1 Kinematics and Dynamics
7.1.1 System Design and Mission Scenario
7.1.2 Mathematical Model Description
7.1.3 Kinematics and Dynamics
7.2 Adaptive Control Scheme
7.2.1 Formulation of the Problem
7.2.2 Adaptive Controller
7.2.3 Modification of the Adaptive Controller
7.2.4 Discussion
7.3 Numerical Simulations
7.3.1 Simplification of the Dynamics
7.3.2 Simulation Results
8 Adaptive Neural Network Dynamic Surface Control of the Post-Capture Tethered System with Full State Constraints
8.1 Mathematical Model and Problem Formulation
8.2 Controller Design
8.2.1 Adaptive Neural Network Dynamic Surface Controller Design
8.2.2 Stability Analysis
8.3 Numerical Simulations
9 Adaptive Prescribed Performance Control for the Postcapture Tethered Combination via Dynamic Surface Technique
9.1 Dynamic Modelling
9.1.1 Dynamics Of the Post-Capture Tethered Combination Considering Modeling Uncertainty
9.1.2 Dynamics of the Post-Capture Tethered Combination Considering Modeling and Measurement Uncertainty
9.2 Control System Design and Stability Analysis
9.2.1 Desired State Analysis
9.2.2 Controller Design
9.2.3 Stability Analysis
9.3 Numerical Simulations
10 An Energy Based Saturated Controller for the Postcapture Underactuated Tethered System
10.1 Dynamic Model of the Postcapture Underactuated Tethered System
10.2 Controller Design and Stability Analysis
10.2.1 Equilibrium Point Analysis
10.2.2 Energy Based Controller Design and Stability Analysis
10.2.3 Energy Based Saturated Controller Design and Stability Analysis
10.3 Numerical Simulations
11 Capture Dynamics and Net Closing Control for Tethered Space Net Robot
11.1 Dynamics Model
11.2 Contact Dynamic Model
11.2.1 Contact Detection
11.2.2 Normal Contact Force
11.3 Capture Simulation and Analysis
11.3.1 Capture Simulation Results
11.3.2 Criterion of Successful Net Capture
11.3.3 Capture Analysis
11.4 Net Closing Control Scheme
11.4.1 Statement of Problem
11.4.2 Sliding Mode Control Law
11.4.3 Nonhomogeneous Disturbance Observer Design
11.4.4 Numerical Simulations
12 Impulsive Super-Twisting Sliding Mode Control for Space Debris Capturing via Tethered Space Net Robot
12.1 System Description
12.2 Preliminaries
12.2.1 Impulsive Control
12.2.2 Adaptive Super-twisting SMC
12.3 Design of Control Scheme
12.3.1 Problem Statement
12.3.2 Control Scheme Design
12.3.3 Control Scheme with Approximation of Delta Function
12.3.4 IASTW Control Scheme Design for TSNR
12.4 Numerical Simulations
12.4.1 Natural Capturing Case
12.4.2Controlled Capture Case
Part III Cellular Space Robot Capturing
13 A Self-Reconfiguration Planning Strategy for Cellular Satellites
13.1 Syetem Description
13.2 Design of Assembling Cell
13.3 Design of Self-Reconfiguration Planning Algorithm
13.3.1 Overall Algorithm Description
13.3.2 Task Planning
13.3.3 Path Planning
13.3.4 Joint Planning
13.4 Numerical Simulations
14 Reinforcement-Learning-Based Task Planning for Self- Reconfiguration of Cellular Space Robot
14.1 System Description
14.2 Mathematical Preparation
14.2.1 Configuration Description of the Self-Reconfiguration for Cellular Space Robot
14.2.2 Similarity Evaluation of Two Configurations
14.2.3 Legal Action Set for Cell Move
14.2.4 Complexity Analysis of Legal Action Set
14.3 Proposed Reinforcement Learning-Based Task Planning
14.3.1 Overall Diagram of the Proposed Task Planning
14.3.2 Monte-Carlo Tree Search
14.4 Validations and Discussions
15 Interactive Inertial Parameters Identification for Spacecraft Takeover Control Using Cellular Space Robot
15.1 Modeling and Formulation
15.1.1 Dynamic Model
15.1.2 Formulation for Mass Identification
15.1.3 Formulation for Inertial Tensor Identification
15.2 Interactive Model Identification Method
15.3 Numerical Simulation
15.3.1 Simulation Results
15.3.2 Analysis and Discussion
16 Spacecraft Attitude Takeover Control via Cellular Space Robot with Distributed Control Allocation
16.1 System Description
16.2 Dynamic Model for Attitude Takeover Control
16.2.1 Definition of the Coordinate System
16.2.2 Dynamic Model of the Aggregated System
16.3 Takeover Controller with Distributed Control Allocation
16.3.1 NFTSM Controller Design
16.3.2 Distributed Control Allocation Algorithm for Redundant Cells
16.3.3 Energy Balance Factor
16.4 Numerical Simulations
17 Spacecraft Attitude Takeover Control via Cellular Space Robot with Saturation
17.1 System Description
17.2 Cellular Interaction-Based Task Allocation Algorithm
17.2.1 Auction Quotation Stage
17.2.2 Consistency Negotiation Stage
17.3 Definition of the Profit Function
17.3.1 Capacity Matching
17.3.2 Residual Energy
17.3.3Actuator Output Limitations
17.4 Numerical Simulations
17.4.1 Stochastic Initial Angular Momentum Analysis
17.4.2 Parameters Influenced Analysis
Appendix A: Conclusion
- Edition: 1
- Published: July 11, 2024
- No. of pages (Paperback): 492
- Imprint: Elsevier
- Language: English
- Paperback ISBN: 9780443247446
- eBook ISBN: 9780443247453
PH
Panfeng Huang
Professor Huang received B.S. and M.S. from Northwestern Polytechnical University in 1998, 2001, respectively, and PhD from the Chinese University of Hong Kong in the area of Automation and Robotics in 2005. He is currently a professor of the School of Astronautics and Vice Director of Research Center for Intelligent Robotics at the Northwestern Polytechnical University. His research interests include Space Robotics, Tethered Space Robotics, Intelligent Control, Machine Vision, Space Teleoperation.
Affiliations and expertise
School of Astronautics, Northwestern Polytechnical University, ChinaFZ
Fan Zhang
Dr Fan Zhang is based at the School of Astronautics, Northwestern Polytechnical University in China. Dr Zhang’s areas of research include: mechanical engineering, aerospace engineering and control systems engineering. Dr Zhang is a member of the Institute of Electrical and Electronics Engineers (IEEE) and the Chinese Society of Aeronautics and Astronautics
Affiliations and expertise
School of Astronautics, Northwestern Polytechnical University, ChinaYL
Yingbo Lu
Dr Yingbo Lu is a university lecturer, based at the School of Electrical and Information Engineering, Zhengzhou University of Light Industry in China. Dr Lu is a member of the Institute of Electrical and Electronics Engineers (IEEE) and the Chinese Association of Automation (CAA).
Affiliations and expertise
School of Electrical and Information Engineering, Zhengzhou University of Light Industry, ChinaHC
Haitao Chang
Dr Haitao Chang (Member, IEEE) received the B.S., M.S., and Ph.D. degrees in navigation, guidance, and control from Northwestern Polytechnical University, Xi'an, China, in 2010, 2013, and 2018, respectively. He is currently an Assistant Research Professor with the School of Astronautics, Northwestern Polytechnical University. His research interests include space robot and control, space teleoperation, and space debris removal.
Affiliations and expertise
Northwestern Polytechnical University, ChinaYZ
Yizhai Zhang
Dr Yizhai Zhang is based at the School of Astronautics, Northwestern Polytechnical University in China.
Affiliations and expertise
School of Astronautics, Northwestern Polytechnical University, ChinaRead Attitude Takeover Control of Failed Spacecraft on ScienceDirect