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Manipulator-actuated Adaptive Integrated Translational and Rotational Finite-time Stabilization for Proximity Operations of Spacecraft

Feng Zhang  Yang Li  Ning Yan  Yi-Fan Li  Qing-Bo Tang  
【摘要】:This paper studies the integrated translational and rotational finite-time stabilization problem for proximity operations of spacecraft via a novel manipulator-actuated control strategy. To do so, a manipulator actuated coupled translational and rotational kinematics of the spacecraft is firstly formulated based on momentum conservation. Taking the manipulator joint as control input, a finite-time control scheme is then proposed such that the translation and rotation of the spacecraft can be stabilized in a pre-determined time, by solving an equivalent designated trajectory tracking problem. The closed-loop finite-time stability is guaranteed within the Lyapunov framework. Numerical simulations demonstrate the effect of the proposed control scheme.

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