Chinese Journal of Theoretical and Applied Mechani ›› 2012, Vol. 44 ›› Issue (2): 408-414.DOI: 10.6052/0459-1879-2012-2-20120225

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DEPLOYMENT AND ATTITUDE CONTROL OF A TETHERED SUBSATELLITE WITH CONTROLLABLE ARM

Wen Hao, Chen Hui, Jin Dongping, Hu Haiyan   

  1. Institute of Vibration Engineering Research, State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2011-08-15 Revised:2011-12-16 Online:2012-03-23 Published:2012-03-23
  • Supported by:
    The project was supported by the National Natural Science Foundation of China (11002068, 50875124), the China Postdoctoral,Science Foundation, Jiangsu Postdoctoral Science Foundation the University of Aeronautics and Astronautics Research linebreak vspace,Funding (NS2010024).

Abstract: The paper presents an investigation on the position and attitude control problem concerning the in-plane motions of a tethered sub-satellite, the attitude of which is controlled by using a controllable arm instead of momentum-wheel actuation in the phase of tether deployment. There are two main steps in the design of the controller. Firstly, a study accounting for the state-control constraints is presented on the nonlinear optimal control problems of the position and attitude of the sub-satellite, the open-loop solution of which is determined by using the Legendre pseudo-spectral algorithm in the second-order form. Secondly, a feedback control law is derived to track the reference trajectory prescribed by the open-loop control law, and the gains of online feedback control are determined by interpolating a sequence of gain data pre-computed via the algorithm of open-loop optimal control. The case studies in the paper well demonstrate the performance of the proposed strategy.

Key words: tethered sub-satellite|controllable arm|deployment|attitude|tracking control

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