Inertia Parameters Identification and Control of Post-Capture Combination by Tethered Space Robot

Inertia parameters identification and control of the post-capture combination is investigated. After TSR has firmly captured the non-cooperative tumbling target to constitute a rigid combination, the relevant physical parameters are unknown, which increases the difficulty of combination's attitude stability control. Taking the post-capture combination's three attitudes into consideration, we founded the dynamics of the post-capture combination. Linear regression forms for combination's physical parameters identification is constructed and Recursive Least Squares is employed to obtain the identification results. In the following, we proposed the calculated torque controller to stabilize the post-capture combination. Finally, the simulation results show effectiveness of the identification algorithm and proposed controller.