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Abstract: In the case that the total angular momentum conservation about the system center of mass, a torque-free spacecraft system with space manipulators becomes the nonholonomic control system. Due to the nonholonomic characteristic, the motion planning and control of a nonholonomic system is much more difficult than that of a conventional. In terms of the nonholonomic characteristic, the three-dimensional attitude control problem of the free floating space manipulators is investigated. The mathematical model of attitude control of rigid spacecraft with space manipulators is obtained. The control problem of the spacecraft attitude becomes a motion planning problem for a drift free control system. The control input rule is expressed by Fourier orthonormal basis and coefficient vector. Based on the optimal motion planning, the particle swarm optimization algorithm is proposed for free floating space manipulators. The results of numerical simulation indicate that this approach is effective for the motion planning problem of space manipulators.
Key words: Space manipulators Attitude motion
Nonholonomic Motion planning
Particle swarm optimization
CLC No: TP242.6
国家自然科学基金(10372014)和北京市自然科学基金(1072008) 资助项目. Received 20060523, received in revised form 20061208
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