基于四元数方法的绳系机器人姿态控制

Abstract

For better understanding of tethered space robot systems to be used in the future onorbit service, the attitude control problem of targets captured by tethered space robots was investigated. Firstly, based on the quaternion theory, the governing equations for the combined body of the target and the tethered space robot were constructed. Secondly, a projected RungeKutta method was developed for the issue of constraint systems, and this method is explicit and can preserve the norm of quaternions. Finally, a numerical example was given to validate the proposed model and the numerical method, where 3 kinds of control strategies were compared in terms of control effectiveness and energy consumption.