Abstract
A control method of a free-flying robot, which can be described in unified form, to capture a floating object is presented. The control law is based on a resolved acceleration scheme and uses adaptive control when the mass of the floating object is unknown. This control method can be used whether the actuators to propel the robot (e. g., thrustors) are utilized or not. To control the robot rotation about one axis, a new orientation parameter is introduced. To demonstrate the proposed control method, numerical simulation is conducted. It is proven that the control method can be applied to all steps in the capturing maneuver of the floating object.
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