Kooperativer Bibliotheksverbund

UID:

Format: 1 online resource (311 pages) : , color illustrations, photographs

ISBN: 0-12-812310-9

Note: Front Cover -- Tethered Space Robot: Dynamics, Measurement, and Control -- Copyright -- Contents -- Chapter 1: Introduction -- 1.1. Background -- 1.1.1. Brief History of the Space Tentacles -- 1.1.2. Brief History of the Space Manipulator -- 1.1.3. Brief History of the Space Tether -- 1.1.3.1. Single Space Tether -- Artificial Gravity -- Orbital Transfer -- Attitude Stabilization -- 1.1.3.2. Multi-Space Tethers -- Dynamics and Control -- Attitude Control -- Structure and Configuration -- 1.1.4. Brief History of the TSR -- 1.1.4.1. Releasing/Retrieving Phase -- 1.1.4.2. Capture and Post-Capture Phase -- 1.1.4.3. Deorbiting Phase -- 1.2. System and Mission Design of TSR -- 1.2.1. System Architecture -- 1.2.2. Mission Scenarios -- References -- Further Reading -- Chapter 2: Dynamics Modeling of the Space Tether -- 2.1. Dynamics Modeling and Solving Based on the Bead Model -- 2.2. Dynamics Modeling and solving Based on Ritz method -- 2.3. Dynamics Modeling and Solving Based on Hybrid Unit Method -- 2.4. Dynamics Modeling and Solving Based on Newton-Euler Method -- 2.5. Dynamics Modeling and Solving Based on Hamiltonian -- References -- Further Reading -- Chapter : Pose Measurement Based on Vision Perception -- 3.1. Measurement System Scheme -- 3.2. Target Contour Tracking -- 3.2.1. Related Works -- 3.2.2. Feature Extraction -- 3.2.2.1. Simulation Comparisons -- 3.2.2.2. Description of SURF -- 3.2.2.3. Improved SURF -- 3.2.3. Feature Matching Algorithm -- 3.2.3.1. Improved P-KLT Algorithm -- 3.2.3.2. Rejecting the Outliers -- 3.2.4. Precise Location and Adaptive Strategy -- 3.2.4.1. Precise Location of Object -- Discrete Point Filter -- Adaptive Features Updating Strategy -- 3.2.5. Results, Limitations and Future Works -- 3.2.5.1. Experiments Condition -- 3.2.5.2. Results -- Quantitative Comparisons -- Qualitative Analysis -- 3.3. Detection of ROI. , 3.3.1. Arc Support Region -- 3.3.2. Estimation of Circle Parameters -- 3.4. Visual Servoing and Pose Measurement -- 3.4.1. Theory of Calculating Azimuth Angles -- 3.4.2. Improved Template Matching -- 3.4.3. Least Square Integrated Predictor -- 3.4.4. Updating Strategy of Dynamic Template -- 3.4.5. Visual Servoing Controller -- 3.4.6. Experimental Validation -- 3.4.6.1. Experimental Set-up -- 3.4.6.2. Design of Experiments -- 3.4.6.3. Results and Discussions -- Qualitative Analysis -- Quantitative Comparisons -- References -- Chapter 4: Optimal Trajectory Tracking in Approaching -- 4.1. Trajectory Modeling in Approaching -- 4.2. Coordinated Control Method -- 4.2.1. Optimization and Distribution of the Orbit Control Force -- 4.2.2. Tether Reeling Model and Tethers Tension Force Controller -- 4.2.3. Fuzzy PD Controller for Tracking Optimal Trajectory -- 4.3. Attitude Stability Strategy -- 4.3.1. Design of the Attitude Controller -- 4.3.2. Stability Proof of the Attitude Controller -- 4.4. Numerical Simulation -- References -- Chapter 5: Approaching Control Based on a Distributed Tether Model -- 5.1. Dynamics Modeling of TSR -- 5.1.1. Dynamics Modeling Based on the Hamiltonian Theory -- 5.1.2. Mathematical Discretization -- 5.2. Optimal Coordinated Controller -- 5.2.1. Minimum-Fuel Problem -- 5.2.2. Hp-Adaptive Pseudospectral Method -- 5.2.3. Closed-Loop Controller -- 5.3. Numerical Simulation -- References -- Chapter 6: Approaching Control Based on a Movable Platform -- 6.1. Approach Dynamic Model -- 6.1.1. The Attitude Model -- 6.1.2. The Trajectory Model -- 6.2. Approach Control Strategy -- 6.2.1. Open-Loop Trajectory Optimization -- 6.2.2. Feedback Trajectory Control -- 6.2.3. Feedback Attitude Control -- 6.3. Numerical Simulation -- References -- Chapter 7: Approaching Control Based on a Tether Releasing Mechanism -- 7.1. Coupling Dynamic Models. , 7.1.1. Releasing Dynamic Model -- 7.1.2. Attitude Dynamic Model -- 7.1.3. Model of Tether Releasing Mechanism -- 7.1.4. Entire Coupled Dynamics Model -- 7.2. Coordinated Coupling Control Strategy -- 7.2.1. The Optimal Trajectory Planning -- 7.2.2. Coupled Coordinated Control Method -- 7.2.2.1. Thrusters Layout of Operation Robot -- 7.2.2.2. Coupled Coordinated Controller Design -- 7.3. Numerical Simulation -- References -- Chapter 8: Approaching Control Based on Mobile Tether Attachment Points -- 8.1. Orbit and Attitude Dynamic Model -- 8.1.1. Design of the Mechanism -- 8.1.2. Attitude Dynamics Model -- 8.1.3. Orbit Dynamic Model -- 8.1.4. Task Description of Attitude Control -- 8.2. Strategy Design of the Coordinated Controller -- 8.2.1. Attitude Coordinated Controller Design -- 8.2.1. Coordinated Tracking Controller Design -- 8.3. Numerical Simulation -- 8.3.1. Trajectory Planning with Constant Tether Tension -- 8.3.2. Simulation Results of the Coordinated Control -- References -- Chapter 9: Impact Dynamic Modeling and Adaptive Target Capture Control -- 9.1. Dynamic Modeling of Tethered Space Robots for Target Capture -- 9.1.1. Dynamic Modeling of the TSR -- 9.1.2. Dynamic Modeling of the Target -- 9.1.3. Impact Dynamic Models for the TSR Capturing a Target -- 9.2. Stabilization Controller Design for Target Capture by TSR -- 9.2.1. Impedance Control -- 9.2.2. Adaptive Robust Target Capture Control -- 9.3. Numerical Simulation -- References -- Chapter 10: Postcapture Attitude Control for a TSR-Target Combination System -- 10.1. Dynamics Model -- 10.1.1. Attitude Dynamics Model -- 10.1.2. Orbit Dynamic Model -- 10.1.3. Dynamic Analysis -- 10.2. Coordinated Control Strategies -- 10.2.1. Parameter Identification -- 10.2.2. Coordinated Controller of Tether and Thrusters -- 10.2.3. Thruster Controller Design. , 10.2.4. Switching Conditions and Parameter Optimization -- 10.3. Numerical Simulation -- References -- Conclusions -- Index -- Back Cover.

Additional Edition: ISBN 0-12-812309-5

Language: English

UID:

Format: 1 Online-Ressource (XII, 281 Seiten) , Illustrationen

ISBN: 9789811503870

Series Statement: Springer Tracts in Mechanical Engineering

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-981-150-386-3

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-981-150-388-7

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-981-150-389-4

Language: English

Subjects: Engineering

Keywords: Raumfahrttechnik ; Fesselsatellit

DOI: 10.1007/978-981-15-0387-0

URL: Volltext  (URL des Erstveröffentlichers)

UID:

Format: 1 online resource (473 pages)

Edition: First edition.

ISBN: 0-443-24745-5

Note: Front Cover -- Attitude Takeover Control of Failed Spacecraft -- Copyright -- Contents -- List of figures -- List of tables -- Biographies -- Panfeng Huang -- Fan Zhang -- Yingbo Lu -- Haitao Chang -- Yizhai Zhang -- Preface -- 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 -- References -- 1 Space manipulator takeover control -- 2 Trajectory prediction of space robot for capturing non-cooperative target -- 2.1 Introduction -- 2.2 Dynamic model -- 2.3 EFIR/DFT filter design -- 2.3.1 EFIR filter design -- 2.3.2 DFT filter design -- 2.4 Experiment realization and discussion -- References -- 3 Combined spacecraft stabilization control after multiple impacts during space robot capture of a tumbling target -- 3.1 Introduction -- 3.2 Attitude dynamics of the combined spacecraft and contact dynamics -- 3.2.1 Problem description -- 3.2.2 Attitude dynamics and kinematics -- 3.2.3 Contact detection algorithm and contact dynamics model -- 3.3 Stability control system design for combined spacecraft -- 3.3.1 Conventional sliding mode controller design -- 3.3.2 Improved sliding mode controller design -- 3.3.3 Control redistribution based on pseudo-inverse -- 3.4 Numerical simulations and experiments -- References -- 4 Attitude takeover control of a failed spacecraft without parameter uncertainties -- 4.1 Introduction -- 4.2 Attitude stability takeover control of target spacecraft based on reconstruction of a reaction wheel control system -- 4.2.1 Attitude error dynamics of the combined spacecraft -- 4.2.1.1 Problem description -- 4.2.1.2 Attitude dynamics of the combined spacecraft -- 4.2.1.3 Attitude error dynamics of the combined spacecraft. , 4.2.2 Reconfigurable control system design for the combined spacecraft -- 4.2.2.1 Classic SDRE optimal controller design -- 4.2.2.2 Modified SDRE optimal controller design based α stability -- 4.2.2.3 Suboptimal control solving technique -- 4.2.3 Control re-allocation based on dynamic control allocation -- 4.2.3.1 Reconfiguration of reaction wheels -- 4.2.3.2 Control re-allocation based on dynamic control allocation method -- 4.2.4 Numerical simulations -- 4.3 Attitude coordinated control for docked spacecraft based on the estimated coupling torque of the space manipulator -- 4.3.1 Attitude error dynamics of docked spacecraft -- 4.3.1.1 Problem description -- 4.3.1.2 Kinematics of space manipulator -- 4.3.1.3 Attitude dynamics of a docked spacecraft -- 4.3.1.4 Attitude error dynamics of a docked spacecraft -- 4.3.2 Coordinated planning of a docked spacecraft attitude and a space manipulator -- 4.3.2.1 Constraints -- 4.3.2.2 Objective function -- 4.3.2.3 Parameterization -- 4.3.2.4 CPSO algorithm -- 4.3.3 Coordinated control of a docked spacecraft attitude and a space manipulator -- 4.3.3.1 Trajectory tracking control of a space manipulator -- 4.3.3.2 Coordinated control based on an estimated coupling torque -- 4.3.4 Numerical simulations -- References -- 5 Reconfigurable spacecraft attitude takeover control in post-capture of a target by space manipulators -- 5.1 Introduction -- 5.2 Model of the combined spacecraft -- 5.2.1 Problem description -- 5.2.2 Kinematics of a space manipulator -- 5.2.3 Kinematics of the combined spacecraft -- 5.2.4 Dynamics of the combined spacecraft -- 5.3 Reconfigurable control of the combined spacecraft -- 5.3.1 Adaptive dynamic inverse control of the combined spacecraft -- 5.3.2 Modified adaptive dynamic inverse control of the combined spacecraft -- 5.4 Control reallocation of the combined spacecraft. , 5.4.1 Reconfiguration of a thruster -- 5.4.2 Control reallocation based on null-space intersections -- 5.5 Numerical simulation -- References -- 6 Attitude takeover control of a failed spacecraft with parameter uncertainties -- 6.1 Introduction -- 6.2 Model of the combined spacecraft -- 6.2.1 Dynamics model of the combined spacecraft -- 6.2.2 Dynamics model of the combined spacecraft with parameter uncertainties -- 6.3 Command filtering adaptive back-stepping reconfigurable control -- 6.3.1 Command filter -- 6.3.2 Command filtering adaptive back-stepping control -- 6.3.2.1 Step 1 -- 6.3.2.2 Step 2 -- 6.3.2.3 Step 3 -- 6.3.3 Projection operator -- 6.4 Control allocation of the combined spacecraft -- 6.5 Numerical simulations -- References -- 2 Tethered space robot takeover control -- 7 Adaptive control for space debris removal with uncertain kinematics, dynamics, and states -- 7.1 Introduction -- 7.2 Kinematics and dynamics -- 7.2.1 System design and mission scenario -- 7.2.1.1 System design -- 7.2.1.2 Mission scenario -- 7.2.2 Mathematical model description -- 7.2.2.1 System configuration -- 7.2.2.2 Dynamics derivation -- 7.2.3 Kinematics and dynamics -- 7.3 Adaptive control scheme -- 7.3.1 Formulation of the problem -- 7.3.2 Adaptive controller -- 7.3.3 Modification of the adaptive controller -- 7.3.4 Discussion -- 7.3.4.1 Implementation aspects -- 7.3.4.2 Controller performances -- 7.4 Numerical simulations -- 7.4.1 Simplification of the dynamics -- 7.4.2 Simulation results -- References -- 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 -- References. , 9 Adaptive prescribed performance control for the post-capture tethered combination via the dynamic surface technique -- 9.1 Dynamic modeling -- 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 -- 9.2.2.1 Step 1 -- 9.2.2.2 Step 2 -- 9.2.2.3 Step 3 -- 9.2.3 Stability analysis -- 9.3 Numerical simulations -- References -- 10 An energy-based saturated controller for the post-capture underactuated tethered system -- 10.1 Introduction -- 10.2 Dynamic model of the post-capture underactuated tethered system -- 10.3 Controller design and stability analysis -- 10.3.1 Equilibrium point analysis -- 10.3.2 Energy-based controller design and stability analysis -- 10.3.2.1 Control law design -- 10.3.2.2 Stability analysis -- 10.3.3 Energy-based saturated controller design and stability analysis -- 10.3.3.1 Control law design -- 10.3.3.2 Stability analysis -- 10.4 Numerical simulations -- References -- 11 Capture dynamics and net closing control for a tethered space net robot -- 11.1 Introduction -- 11.2 Dynamics model -- 11.3 Contact dynamic model -- 11.3.1 Contact detection -- 11.3.2 Normal contact force -- 11.4 Capture simulation and analysis -- 11.4.1 Capture simulation results -- 11.4.2 Criteria of a successful net capture -- 11.4.3 Capture analysis -- 11.5 Net closing control scheme -- 11.5.1 Statement of problem -- 11.5.2 Sliding mode control law -- 11.5.3 Non-homogeneous disturbance observer design -- 11.5.4 Numerical simulations -- References -- 12 Impulsive super-twisting sliding mode control for space debris capturing via a tethered space net robot -- 12.1 Introduction -- 12.2 System description. , 12.3 Preliminaries -- 12.3.1 Impulsive control -- 12.3.2 Adaptive super-twisting SMC -- 12.4 Design of control scheme -- 12.4.1 Problem statement -- 12.4.2 Control scheme design -- 12.4.3 Control scheme with approximation of the delta function -- 12.4.4 IASTW control scheme design for the TSNR -- 12.5 Numerical simulations -- 12.5.1 Natural capturing case -- 12.5.2 Controlled capture case -- References -- 3 Cellular space robot takeover control -- 13 A self-reconfiguration planning strategy for cellular satellites -- 13.1 System 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 -- References -- 14 Reinforcement-learning-based task planning for self-reconfiguration of a cellular space robot -- 14.1 System description -- 14.2 Mathematical preparation -- 14.2.1 Configuration description of the self-reconfiguration for a 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 -- References -- 15 Interactive inertial parameters identification for spacecraft takeover control using a 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 -- References. , 16 Spacecraft attitude takeover control via a cellular space robot with distributed control allocation.

Additional Edition: ISBN 0-443-24744-7

Language: English

UID:

Format: 1 online resource (311 pages) : , color illustrations, photographs

ISBN: 0-12-812310-9

Note: Front Cover -- Tethered Space Robot: Dynamics, Measurement, and Control -- Copyright -- Contents -- Chapter 1: Introduction -- 1.1. Background -- 1.1.1. Brief History of the Space Tentacles -- 1.1.2. Brief History of the Space Manipulator -- 1.1.3. Brief History of the Space Tether -- 1.1.3.1. Single Space Tether -- Artificial Gravity -- Orbital Transfer -- Attitude Stabilization -- 1.1.3.2. Multi-Space Tethers -- Dynamics and Control -- Attitude Control -- Structure and Configuration -- 1.1.4. Brief History of the TSR -- 1.1.4.1. Releasing/Retrieving Phase -- 1.1.4.2. Capture and Post-Capture Phase -- 1.1.4.3. Deorbiting Phase -- 1.2. System and Mission Design of TSR -- 1.2.1. System Architecture -- 1.2.2. Mission Scenarios -- References -- Further Reading -- Chapter 2: Dynamics Modeling of the Space Tether -- 2.1. Dynamics Modeling and Solving Based on the Bead Model -- 2.2. Dynamics Modeling and solving Based on Ritz method -- 2.3. Dynamics Modeling and Solving Based on Hybrid Unit Method -- 2.4. Dynamics Modeling and Solving Based on Newton-Euler Method -- 2.5. Dynamics Modeling and Solving Based on Hamiltonian -- References -- Further Reading -- Chapter : Pose Measurement Based on Vision Perception -- 3.1. Measurement System Scheme -- 3.2. Target Contour Tracking -- 3.2.1. Related Works -- 3.2.2. Feature Extraction -- 3.2.2.1. Simulation Comparisons -- 3.2.2.2. Description of SURF -- 3.2.2.3. Improved SURF -- 3.2.3. Feature Matching Algorithm -- 3.2.3.1. Improved P-KLT Algorithm -- 3.2.3.2. Rejecting the Outliers -- 3.2.4. Precise Location and Adaptive Strategy -- 3.2.4.1. Precise Location of Object -- Discrete Point Filter -- Adaptive Features Updating Strategy -- 3.2.5. Results, Limitations and Future Works -- 3.2.5.1. Experiments Condition -- 3.2.5.2. Results -- Quantitative Comparisons -- Qualitative Analysis -- 3.3. Detection of ROI. , 3.3.1. Arc Support Region -- 3.3.2. Estimation of Circle Parameters -- 3.4. Visual Servoing and Pose Measurement -- 3.4.1. Theory of Calculating Azimuth Angles -- 3.4.2. Improved Template Matching -- 3.4.3. Least Square Integrated Predictor -- 3.4.4. Updating Strategy of Dynamic Template -- 3.4.5. Visual Servoing Controller -- 3.4.6. Experimental Validation -- 3.4.6.1. Experimental Set-up -- 3.4.6.2. Design of Experiments -- 3.4.6.3. Results and Discussions -- Qualitative Analysis -- Quantitative Comparisons -- References -- Chapter 4: Optimal Trajectory Tracking in Approaching -- 4.1. Trajectory Modeling in Approaching -- 4.2. Coordinated Control Method -- 4.2.1. Optimization and Distribution of the Orbit Control Force -- 4.2.2. Tether Reeling Model and Tethers Tension Force Controller -- 4.2.3. Fuzzy PD Controller for Tracking Optimal Trajectory -- 4.3. Attitude Stability Strategy -- 4.3.1. Design of the Attitude Controller -- 4.3.2. Stability Proof of the Attitude Controller -- 4.4. Numerical Simulation -- References -- Chapter 5: Approaching Control Based on a Distributed Tether Model -- 5.1. Dynamics Modeling of TSR -- 5.1.1. Dynamics Modeling Based on the Hamiltonian Theory -- 5.1.2. Mathematical Discretization -- 5.2. Optimal Coordinated Controller -- 5.2.1. Minimum-Fuel Problem -- 5.2.2. Hp-Adaptive Pseudospectral Method -- 5.2.3. Closed-Loop Controller -- 5.3. Numerical Simulation -- References -- Chapter 6: Approaching Control Based on a Movable Platform -- 6.1. Approach Dynamic Model -- 6.1.1. The Attitude Model -- 6.1.2. The Trajectory Model -- 6.2. Approach Control Strategy -- 6.2.1. Open-Loop Trajectory Optimization -- 6.2.2. Feedback Trajectory Control -- 6.2.3. Feedback Attitude Control -- 6.3. Numerical Simulation -- References -- Chapter 7: Approaching Control Based on a Tether Releasing Mechanism -- 7.1. Coupling Dynamic Models. , 7.1.1. Releasing Dynamic Model -- 7.1.2. Attitude Dynamic Model -- 7.1.3. Model of Tether Releasing Mechanism -- 7.1.4. Entire Coupled Dynamics Model -- 7.2. Coordinated Coupling Control Strategy -- 7.2.1. The Optimal Trajectory Planning -- 7.2.2. Coupled Coordinated Control Method -- 7.2.2.1. Thrusters Layout of Operation Robot -- 7.2.2.2. Coupled Coordinated Controller Design -- 7.3. Numerical Simulation -- References -- Chapter 8: Approaching Control Based on Mobile Tether Attachment Points -- 8.1. Orbit and Attitude Dynamic Model -- 8.1.1. Design of the Mechanism -- 8.1.2. Attitude Dynamics Model -- 8.1.3. Orbit Dynamic Model -- 8.1.4. Task Description of Attitude Control -- 8.2. Strategy Design of the Coordinated Controller -- 8.2.1. Attitude Coordinated Controller Design -- 8.2.1. Coordinated Tracking Controller Design -- 8.3. Numerical Simulation -- 8.3.1. Trajectory Planning with Constant Tether Tension -- 8.3.2. Simulation Results of the Coordinated Control -- References -- Chapter 9: Impact Dynamic Modeling and Adaptive Target Capture Control -- 9.1. Dynamic Modeling of Tethered Space Robots for Target Capture -- 9.1.1. Dynamic Modeling of the TSR -- 9.1.2. Dynamic Modeling of the Target -- 9.1.3. Impact Dynamic Models for the TSR Capturing a Target -- 9.2. Stabilization Controller Design for Target Capture by TSR -- 9.2.1. Impedance Control -- 9.2.2. Adaptive Robust Target Capture Control -- 9.3. Numerical Simulation -- References -- Chapter 10: Postcapture Attitude Control for a TSR-Target Combination System -- 10.1. Dynamics Model -- 10.1.1. Attitude Dynamics Model -- 10.1.2. Orbit Dynamic Model -- 10.1.3. Dynamic Analysis -- 10.2. Coordinated Control Strategies -- 10.2.1. Parameter Identification -- 10.2.2. Coordinated Controller of Tether and Thrusters -- 10.2.3. Thruster Controller Design. , 10.2.4. Switching Conditions and Parameter Optimization -- 10.3. Numerical Simulation -- References -- Conclusions -- Index -- Back Cover.

Additional Edition: ISBN 0-12-812309-5

Language: English

UID:

Format: 1 online resource (311 pages) : , color illustrations, photographs

ISBN: 0-12-812310-9

Note: Front Cover -- Tethered Space Robot: Dynamics, Measurement, and Control -- Copyright -- Contents -- Chapter 1: Introduction -- 1.1. Background -- 1.1.1. Brief History of the Space Tentacles -- 1.1.2. Brief History of the Space Manipulator -- 1.1.3. Brief History of the Space Tether -- 1.1.3.1. Single Space Tether -- Artificial Gravity -- Orbital Transfer -- Attitude Stabilization -- 1.1.3.2. Multi-Space Tethers -- Dynamics and Control -- Attitude Control -- Structure and Configuration -- 1.1.4. Brief History of the TSR -- 1.1.4.1. Releasing/Retrieving Phase -- 1.1.4.2. Capture and Post-Capture Phase -- 1.1.4.3. Deorbiting Phase -- 1.2. System and Mission Design of TSR -- 1.2.1. System Architecture -- 1.2.2. Mission Scenarios -- References -- Further Reading -- Chapter 2: Dynamics Modeling of the Space Tether -- 2.1. Dynamics Modeling and Solving Based on the Bead Model -- 2.2. Dynamics Modeling and solving Based on Ritz method -- 2.3. Dynamics Modeling and Solving Based on Hybrid Unit Method -- 2.4. Dynamics Modeling and Solving Based on Newton-Euler Method -- 2.5. Dynamics Modeling and Solving Based on Hamiltonian -- References -- Further Reading -- Chapter : Pose Measurement Based on Vision Perception -- 3.1. Measurement System Scheme -- 3.2. Target Contour Tracking -- 3.2.1. Related Works -- 3.2.2. Feature Extraction -- 3.2.2.1. Simulation Comparisons -- 3.2.2.2. Description of SURF -- 3.2.2.3. Improved SURF -- 3.2.3. Feature Matching Algorithm -- 3.2.3.1. Improved P-KLT Algorithm -- 3.2.3.2. Rejecting the Outliers -- 3.2.4. Precise Location and Adaptive Strategy -- 3.2.4.1. Precise Location of Object -- Discrete Point Filter -- Adaptive Features Updating Strategy -- 3.2.5. Results, Limitations and Future Works -- 3.2.5.1. Experiments Condition -- 3.2.5.2. Results -- Quantitative Comparisons -- Qualitative Analysis -- 3.3. Detection of ROI. , 3.3.1. Arc Support Region -- 3.3.2. Estimation of Circle Parameters -- 3.4. Visual Servoing and Pose Measurement -- 3.4.1. Theory of Calculating Azimuth Angles -- 3.4.2. Improved Template Matching -- 3.4.3. Least Square Integrated Predictor -- 3.4.4. Updating Strategy of Dynamic Template -- 3.4.5. Visual Servoing Controller -- 3.4.6. Experimental Validation -- 3.4.6.1. Experimental Set-up -- 3.4.6.2. Design of Experiments -- 3.4.6.3. Results and Discussions -- Qualitative Analysis -- Quantitative Comparisons -- References -- Chapter 4: Optimal Trajectory Tracking in Approaching -- 4.1. Trajectory Modeling in Approaching -- 4.2. Coordinated Control Method -- 4.2.1. Optimization and Distribution of the Orbit Control Force -- 4.2.2. Tether Reeling Model and Tethers Tension Force Controller -- 4.2.3. Fuzzy PD Controller for Tracking Optimal Trajectory -- 4.3. Attitude Stability Strategy -- 4.3.1. Design of the Attitude Controller -- 4.3.2. Stability Proof of the Attitude Controller -- 4.4. Numerical Simulation -- References -- Chapter 5: Approaching Control Based on a Distributed Tether Model -- 5.1. Dynamics Modeling of TSR -- 5.1.1. Dynamics Modeling Based on the Hamiltonian Theory -- 5.1.2. Mathematical Discretization -- 5.2. Optimal Coordinated Controller -- 5.2.1. Minimum-Fuel Problem -- 5.2.2. Hp-Adaptive Pseudospectral Method -- 5.2.3. Closed-Loop Controller -- 5.3. Numerical Simulation -- References -- Chapter 6: Approaching Control Based on a Movable Platform -- 6.1. Approach Dynamic Model -- 6.1.1. The Attitude Model -- 6.1.2. The Trajectory Model -- 6.2. Approach Control Strategy -- 6.2.1. Open-Loop Trajectory Optimization -- 6.2.2. Feedback Trajectory Control -- 6.2.3. Feedback Attitude Control -- 6.3. Numerical Simulation -- References -- Chapter 7: Approaching Control Based on a Tether Releasing Mechanism -- 7.1. Coupling Dynamic Models. , 7.1.1. Releasing Dynamic Model -- 7.1.2. Attitude Dynamic Model -- 7.1.3. Model of Tether Releasing Mechanism -- 7.1.4. Entire Coupled Dynamics Model -- 7.2. Coordinated Coupling Control Strategy -- 7.2.1. The Optimal Trajectory Planning -- 7.2.2. Coupled Coordinated Control Method -- 7.2.2.1. Thrusters Layout of Operation Robot -- 7.2.2.2. Coupled Coordinated Controller Design -- 7.3. Numerical Simulation -- References -- Chapter 8: Approaching Control Based on Mobile Tether Attachment Points -- 8.1. Orbit and Attitude Dynamic Model -- 8.1.1. Design of the Mechanism -- 8.1.2. Attitude Dynamics Model -- 8.1.3. Orbit Dynamic Model -- 8.1.4. Task Description of Attitude Control -- 8.2. Strategy Design of the Coordinated Controller -- 8.2.1. Attitude Coordinated Controller Design -- 8.2.1. Coordinated Tracking Controller Design -- 8.3. Numerical Simulation -- 8.3.1. Trajectory Planning with Constant Tether Tension -- 8.3.2. Simulation Results of the Coordinated Control -- References -- Chapter 9: Impact Dynamic Modeling and Adaptive Target Capture Control -- 9.1. Dynamic Modeling of Tethered Space Robots for Target Capture -- 9.1.1. Dynamic Modeling of the TSR -- 9.1.2. Dynamic Modeling of the Target -- 9.1.3. Impact Dynamic Models for the TSR Capturing a Target -- 9.2. Stabilization Controller Design for Target Capture by TSR -- 9.2.1. Impedance Control -- 9.2.2. Adaptive Robust Target Capture Control -- 9.3. Numerical Simulation -- References -- Chapter 10: Postcapture Attitude Control for a TSR-Target Combination System -- 10.1. Dynamics Model -- 10.1.1. Attitude Dynamics Model -- 10.1.2. Orbit Dynamic Model -- 10.1.3. Dynamic Analysis -- 10.2. Coordinated Control Strategies -- 10.2.1. Parameter Identification -- 10.2.2. Coordinated Controller of Tether and Thrusters -- 10.2.3. Thruster Controller Design. , 10.2.4. Switching Conditions and Parameter Optimization -- 10.3. Numerical Simulation -- References -- Conclusions -- Index -- Back Cover.

Additional Edition: ISBN 0-12-812309-5

Language: English

UID:

Format: 1 Online-Ressource , Illustrationen

ISBN: 9780128123102

Note: Includes bibliographical references and index

Additional Edition: Erscheint auch als Druck-Ausgabe ISBN 978-0-12-812309-6

Language: English

Subjects: Engineering

Keywords: Weltraum ; Roboter ; Seil

URL: Volltext  (URL des Erstveröffentlichers)