Constrained Compliant Control for Space Robot Postcapturing Uncertain Target

摘要

In the postcapture phase, compliant manipulation can maintain the target undamaged and ensure the safety of the manipulation procedure. In most studies, due to the compliant equation, the compliant control scheme is not effective enough to perform all kinds of the manipulation missions in the postcapture phase. In this paper, a constrained compliant control scheme is proposed for safe manipulation of a postcapturing uncertain target with space robotic system. In order to manipulate the target safely and effectively, a compliant reference trajectory of the desired trajectory is generated considering the constraints of the contact force and torque. By constructing a Barrier Lyapunov function (BLF) based constrained tracking controller, the control performance is designed in advance, and the constraints are preserved during the whole procedure. Finally, the simulations of stabilizing an uncertain tumbling target in the postcapture phase are designed to illustrate the effectiveness of the proposed control scheme. With the comparisons to the general compliant control schemes, the safety and effectiveness of the proposed control scheme are validated via digital simulations.