An Attitude Control Method Based on Constrained Motion Theory for Extravehicular Activity Rescue by Astronaut
Hao Chen · Journal of Astronautics · 2010
Attitude maneuvering is essential for the astronaut during extravehicular rescue or operation.However the extravehicular astronaut is often limited by some constraint or trajectory requirement.The Udwadia and Kalaba's constrained motion theory was used to model the attitude motion mentioned above.The relative attitude relation between the astronaut and the spacecraft was developed via quaternion operation.An explicit tracking control method was introduced to design the attitude control systems of extravehicular rescue aid equipment.From the simulation,conclusion can be made that this explicit control method is robust to parameters uncertainty of the system such as the moment of inertial variance due to astronaut's limb disturbance,as well as that its simplicity implies its capability for real-time control.