Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR

Huazhong Li

doi:doi:10.11648/j.acis.20221002.13

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Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR

Huazhong Li

Published in Automation, Control and Intelligent Systems (Volume 10, Issue 2)

Received: 10 May 2022 Published: 12 May 2022

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Abstract

Aiming at the problem of satellite attitude stability in the space operation task of redundant multi arm free floating space robot (RMFFSR), firstly, the motion model of RMFFSR is studied, and the multi arm generalized Jacobian matrix (MGJM) reflecting the motion relationship between the linear velocity and angular velocity of any manipulator end effector of RMFFSR and the angular velocity of RMFFSR joint in the free floating state is obtained. Secondly, the RMFFSR resolved motion rate control (RMRC) algorithm based on MGJM is provided. At the same time, the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi arm coordinated satellite based on RMFFSR arbitrary manipulator and the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi joint coordinated satellite based on RMFFSR arbitrary manipulator are researched. Finally, the RMFFSR satellite attitude control system (RSACS) is researched. By combining the multi arm manipulator planning system with the satellite body attitude control system, the motion planning with minimum attitude disturbance of the satellite body is completed; by predicting the angular momentum of the manipulator's attitude disturbance with the satellite body, the satellite body attitude control method based on the prediction of the satellite body attitude disturbance and the autonomous coordinated attitude control algorithm of the RMFFSR manipulator are realized.

Published in	Automation, Control and Intelligent Systems (Volume 10, Issue 2)
DOI	10.11648/j.acis.20221002.13
Page(s)	27-34
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2022. Published by Science Publishing Group

Keywords

RMFFSR, Attitude Control, Coordination Control, MGJM, Attitude Disturbance Prediction, Autonomous Coordinated Attitude Control, RMRC

References

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APA Style

Huazhong Li. (2022). Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR. Automation, Control and Intelligent Systems, 10(2), 27-34. https://doi.org/10.11648/j.acis.20221002.13

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ACS Style

Huazhong Li. Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR. Autom. Control Intell. Syst. 2022, 10(2), 27-34. doi: 10.11648/j.acis.20221002.13

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AMA Style

Huazhong Li. Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR. Autom Control Intell Syst. 2022;10(2):27-34. doi: 10.11648/j.acis.20221002.13

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@article{10.11648/j.acis.20221002.13,
  author = {Huazhong Li},
  title = {Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR},
  journal = {Automation, Control and Intelligent Systems},
  volume = {10},
  number = {2},
  pages = {27-34},
  doi = {10.11648/j.acis.20221002.13},
  url = {https://doi.org/10.11648/j.acis.20221002.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20221002.13},
  abstract = {Aiming at the problem of satellite attitude stability in the space operation task of redundant multi arm free floating space robot (RMFFSR), firstly, the motion model of RMFFSR is studied, and the multi arm generalized Jacobian matrix (MGJM) reflecting the motion relationship between the linear velocity and angular velocity of any manipulator end effector of RMFFSR and the angular velocity of RMFFSR joint in the free floating state is obtained. Secondly, the RMFFSR resolved motion rate control (RMRC) algorithm based on MGJM is provided. At the same time, the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi arm coordinated satellite based on RMFFSR arbitrary manipulator and the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi joint coordinated satellite based on RMFFSR arbitrary manipulator are researched. Finally, the RMFFSR satellite attitude control system (RSACS) is researched. By combining the multi arm manipulator planning system with the satellite body attitude control system, the motion planning with minimum attitude disturbance of the satellite body is completed; by predicting the angular momentum of the manipulator's attitude disturbance with the satellite body, the satellite body attitude control method based on the prediction of the satellite body attitude disturbance and the autonomous coordinated attitude control algorithm of the RMFFSR manipulator are realized.},
 year = {2022}
}

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TY  - JOUR
T1  - Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR
AU  - Huazhong Li
Y1  - 2022/05/12
PY  - 2022
N1  - https://doi.org/10.11648/j.acis.20221002.13
DO  - 10.11648/j.acis.20221002.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 27
EP  - 34
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20221002.13
AB  - Aiming at the problem of satellite attitude stability in the space operation task of redundant multi arm free floating space robot (RMFFSR), firstly, the motion model of RMFFSR is studied, and the multi arm generalized Jacobian matrix (MGJM) reflecting the motion relationship between the linear velocity and angular velocity of any manipulator end effector of RMFFSR and the angular velocity of RMFFSR joint in the free floating state is obtained. Secondly, the RMFFSR resolved motion rate control (RMRC) algorithm based on MGJM is provided. At the same time, the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi arm coordinated satellite based on RMFFSR arbitrary manipulator and the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi joint coordinated satellite based on RMFFSR arbitrary manipulator are researched. Finally, the RMFFSR satellite attitude control system (RSACS) is researched. By combining the multi arm manipulator planning system with the satellite body attitude control system, the motion planning with minimum attitude disturbance of the satellite body is completed; by predicting the angular momentum of the manipulator's attitude disturbance with the satellite body, the satellite body attitude control method based on the prediction of the satellite body attitude disturbance and the autonomous coordinated attitude control algorithm of the RMFFSR manipulator are realized.
VL  - 10
IS  - 2
ER  -

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Author Information

Huazhong Li

School of Sino-German Robotics, Shenzhen Institute of Information Technology, Shenzhen, China

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Plain Text BibTeX RIS

APA Style

Huazhong Li. (2022). Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR. Automation, Control and Intelligent Systems, 10(2), 27-34. https://doi.org/10.11648/j.acis.20221002.13

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ACS Style

Huazhong Li. Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR. Autom. Control Intell. Syst. 2022, 10(2), 27-34. doi: 10.11648/j.acis.20221002.13

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AMA Style

Huazhong Li. Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR. Autom Control Intell Syst. 2022;10(2):27-34. doi: 10.11648/j.acis.20221002.13

Copy | Download

@article{10.11648/j.acis.20221002.13,
  author = {Huazhong Li},
  title = {Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR},
  journal = {Automation, Control and Intelligent Systems},
  volume = {10},
  number = {2},
  pages = {27-34},
  doi = {10.11648/j.acis.20221002.13},
  url = {https://doi.org/10.11648/j.acis.20221002.13},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.acis.20221002.13},
  abstract = {Aiming at the problem of satellite attitude stability in the space operation task of redundant multi arm free floating space robot (RMFFSR), firstly, the motion model of RMFFSR is studied, and the multi arm generalized Jacobian matrix (MGJM) reflecting the motion relationship between the linear velocity and angular velocity of any manipulator end effector of RMFFSR and the angular velocity of RMFFSR joint in the free floating state is obtained. Secondly, the RMFFSR resolved motion rate control (RMRC) algorithm based on MGJM is provided. At the same time, the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi arm coordinated satellite based on RMFFSR arbitrary manipulator and the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi joint coordinated satellite based on RMFFSR arbitrary manipulator are researched. Finally, the RMFFSR satellite attitude control system (RSACS) is researched. By combining the multi arm manipulator planning system with the satellite body attitude control system, the motion planning with minimum attitude disturbance of the satellite body is completed; by predicting the angular momentum of the manipulator's attitude disturbance with the satellite body, the satellite body attitude control method based on the prediction of the satellite body attitude disturbance and the autonomous coordinated attitude control algorithm of the RMFFSR manipulator are realized.},
 year = {2022}
}

Copy | Download

TY  - JOUR
T1  - Research on Autonomous Coordinated Satellite Attitude Control Algorithm of RMFFSR
AU  - Huazhong Li
Y1  - 2022/05/12
PY  - 2022
N1  - https://doi.org/10.11648/j.acis.20221002.13
DO  - 10.11648/j.acis.20221002.13
T2  - Automation, Control and Intelligent Systems
JF  - Automation, Control and Intelligent Systems
JO  - Automation, Control and Intelligent Systems
SP  - 27
EP  - 34
PB  - Science Publishing Group
SN  - 2328-5591
UR  - https://doi.org/10.11648/j.acis.20221002.13
AB  - Aiming at the problem of satellite attitude stability in the space operation task of redundant multi arm free floating space robot (RMFFSR), firstly, the motion model of RMFFSR is studied, and the multi arm generalized Jacobian matrix (MGJM) reflecting the motion relationship between the linear velocity and angular velocity of any manipulator end effector of RMFFSR and the angular velocity of RMFFSR joint in the free floating state is obtained. Secondly, the RMFFSR resolved motion rate control (RMRC) algorithm based on MGJM is provided. At the same time, the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi arm coordinated satellite based on RMFFSR arbitrary manipulator and the satellite attitude stabilization algorithm based on the MGJM for the attitude stability of multi joint coordinated satellite based on RMFFSR arbitrary manipulator are researched. Finally, the RMFFSR satellite attitude control system (RSACS) is researched. By combining the multi arm manipulator planning system with the satellite body attitude control system, the motion planning with minimum attitude disturbance of the satellite body is completed; by predicting the angular momentum of the manipulator's attitude disturbance with the satellite body, the satellite body attitude control method based on the prediction of the satellite body attitude disturbance and the autonomous coordinated attitude control algorithm of the RMFFSR manipulator are realized.
VL  - 10
IS  - 2
ER  -

Copy | Download