Adaptive control for stabilizing the coupling system with disturbance after capturing spacecraft

An adaptive control based on dynamics model for stabilizing the coupling system was proposed, for the coupling system may be unstable due to the change in mass characteristics and momentum of the coupling system. The dynamics of system was modelled and the velocities of coupling system were derived from the impact model. Based on the dynamic model developed, the linear feedback controller was designed. Because of the uncertainty on the dynamic parameters and disturbance, the dynamic model was linearly parametric with respect to a group of unknown dynamic parameters and unknown disturbance. Then, the adaptive linear feedback controller was designed. Using a three-DOF planar space manipulator, the numerical simulation was carried out. The simulation results confirm the controller is feasible and effective.