提出分层控制架构，实现空间机器人对翻滚目标的自主捕获。
A Hierarchical Control Architecture for Space Robots in On-Orbit Servicing Operations
- 内环用李雅普诺夫鲁棒控制处理多体动力学
- 外环解扩展逆运动学问题，适应复杂姿态
- 仿真验证比现有方案更鲁棒、适应性强
在轨服务与主动清除空间碎片需要先进的机器人能力来捕获和稳定非合作目标。本文提出一种分层控制框架，用于空间机器人在轨自主捕获翻滚物体。构建了包含追踪器晃动动力学的仿真环境，该效应在空间机器人领域较少研究。所提控制器结合内层基于李雅普诺夫的鲁棒控制回路以处理多体动力学，以及外层解决扩展逆运动学问题。仿真结果表明，该方法相比现有控制方案具有更强的鲁棒性和适应性。
原文摘要 · Abstract (English)
In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in space. A simulation environment is developed, incorporating sloshing dynamics of the chaser, a rarely studied effect in space robotics. The proposed controller combines an inner Lyapunov-based robust control loop for multi-body dynamics with an outer loop addressing an extended inverse kinematics problem. Simulation results show improved robustness and adaptability compared to existing control schemes.
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