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Attitude Dynamics and Control of Spacecraft using a Serial Manipulator |
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PP: 71-79 |
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Author(s) |
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Yong-Lin Kuo,
Tsung-Liang Wu,
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Abstract |
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| This paper studies the attitude control of spacecraft hinged by a serial manipulator under the effect of the earths gravitational
field. The manipulator consists of multiple rigid body links. In literature, most of papers considered a one- or two-link manipulator. This
paper proposes a general form of equations of motion of the spacecraft-manipulator system with any number of links. The equations of
motion are nonlinear, and the linearized equations are also provided. Besides, a simple approach of the controller design is proposed,
which is based on the combinations of the attitude dynamics and the desired system responses. The paper demonstrates three types of
manipulators with one, two and three links. Several controllers for each manipulator are applied to demonstrate the feasibility of the
proposed approach. The results show that the rotating angle of the spacecraft attitude can reach the steady state within 0.002 orbits
based on the attitude dynamics and the desired system responses. |
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