Abstract
Cellularization is a promising architecture for spacecraft construction and on-oribt service. Functional adjustment of a cellularized system can be easily achieved through structural reconfiguration. Cellular space robot is one of the cellularized systems for on-orbit service of heterogeneous targets. As an example of on-orbit service, the attitude takeover control problem of target spacecraft by cellular space robot with redundant cells is studied in this paper. A distributed impedance control strategy is proposed for cooperative control of redundant cells in cellular space robot. Each cell is driven by its local impedance controller. Simultaneously, impedance parameters of the cells are adjusted though distributed data interaction. The attitude of the target spacecraft can be settled under the joint control of the cells and energy balance of the cells can be realized through distributed impedance parameters adjustment.
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