Nonlinear Coordinate-Parametric Control of a Free-Flying Robotic Module

Abstract

The tasks of synthesis of the energy-economy control by translational and attitude motions of free-flying robotic module are considered. This space module is used as transport aid for flights near by the space stations surface for the purpose of their servicing. All nonlinear characteristics of Lagrange's model of the space module and nonlinear characteristics (dead zones, saturations) of the some control system's elements are taken into consideration. The effect of an energy consumption economy for control is realized at the expense of the module's main body stabilization with the help of "the motions exchange" between the main body and manipulator's links. The algorithms of control in which the action on the part of controlled coordinates realized with the help of the configuration module parameters variations are suggested.