| Citation: | WEI Chunling, YUAN Quan, ZHANG Jun, et al. Integrated orbit, attitude and manipulator control of space multi-body system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2020, 46(2): 252-258. doi: 10.13700/j.bh.1001-5965.2019.0204(in Chinese)
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The rapid maneuver ability is widely required for spacecraft aiming the on-orbit servicing tasks. The integrated orbit, attitude and manipulator control was designed for the space multi-body system, which is composed of the satellite base and manipulator. First, the dynamic model of the multi-body system was established. Then, the integrated orbit, attitude and manipulator controller was designed via back stepping method, and the stability of the system was proved. Since all the degrees of freedom are controlled, the abilities of the system to fulfill different tasks are markedly improved, compared to the traditional system whose orbit or attitude is free. Thus, the system with the integrated controller can fulfill simultaneous orbit transfer and attitude maneuver in a large range of space, and meanwhile the manipulator can operate and control accurately. Finally, by establishing complete multi-body system simulation model, the controller was simulated, and the goal of simultaneous orbit, attitude and manipulator control is achieved. The effectiveness of the proposed method is validated.
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