Predictive motion control for autonomous capture of a tumbling target with a space manipulator

Abstract

In this study, an autonomous capture framework was proposed for a tumbling target satellite with a space manipulator. First, the motion model of a tumbling target was constructed and the motion properties were analyzed. Subsequently, a predictive motion control method was introduced to compensate for the time delay owing to image processing and to predict the tumbling motion of the target. Stability analysis was conducted using a Lyapunov function. To address the problem of large position and attitude deviations of the tumbling target, different autonomous capture strategies, that is, non-fixed-point position-based capture and area-based capture, were proposed to capture different parts of the target, such as the docking ring and side surfaces, which are important for practical applications. The capture conditions were created and compared, where the non-fixed-point position capture strategy and area-based capture strategy had a larger pose tolerance than the traditional fixed-point position methods. Finally, the framework was tested using Adams/Simulink co-simulations. The results validated the autonomous capture process and proposed alternatives for practical applications.