Chapter
1.1.3.2. Multi-Space Tethers
Structure and Configuration
1.1.4. Brief History of the TSR
1.1.4.1. Releasing/Retrieving Phase
1.1.4.2. Capture and Post-Capture Phase
1.1.4.3. Deorbiting Phase
1.2. System and Mission Design of TSR
1.2.1. System Architecture
Chapter 2: Dynamics Modeling of the Space Tether
2.1. Dynamics Modeling and Solving Based on the Bead Model
2.2. Dynamics Modeling and solving Based on Ritz method
2.3. Dynamics Modeling and Solving Based on Hybrid Unit Method
2.4. Dynamics Modeling and Solving Based on Newton-Euler Method
2.5. Dynamics Modeling and Solving Based on Hamiltonian
Chapter : Pose Measurement Based on Vision Perception
3.1. Measurement System Scheme
3.2. Target Contour Tracking
3.2.2. Feature Extraction
3.2.2.1. Simulation Comparisons
3.2.2.2. Description of SURF
3.2.3. Feature Matching Algorithm
3.2.3.1. Improved P-KLT Algorithm
3.2.3.2. Rejecting the Outliers
3.2.4. Precise Location and Adaptive Strategy
3.2.4.1. Precise Location of Object
Adaptive Features Updating Strategy
3.2.5. Results, Limitations and Future Works
3.2.5.1. Experiments Condition
3.3.1. Arc Support Region
3.3.2. Estimation of Circle Parameters
3.4. Visual Servoing and Pose Measurement
3.4.1. Theory of Calculating Azimuth Angles
3.4.2. Improved Template Matching
3.4.3. Least Square Integrated Predictor
3.4.4. Updating Strategy of Dynamic Template
3.4.5. Visual Servoing Controller
3.4.6. Experimental Validation
3.4.6.1. Experimental Set-up
3.4.6.2. Design of Experiments
3.4.6.3. Results and Discussions
Chapter 4: Optimal Trajectory Tracking in Approaching
4.1. Trajectory Modeling in Approaching
4.2. Coordinated Control Method
4.2.1. Optimization and Distribution of the Orbit Control Force
4.2.2. Tether Reeling Model and Tethers Tension Force Controller
4.2.3. Fuzzy PD Controller for Tracking Optimal Trajectory
4.3. Attitude Stability Strategy
4.3.1. Design of the Attitude Controller
4.3.2. Stability Proof of the Attitude Controller
4.4. Numerical Simulation
Chapter 5: Approaching Control Based on a Distributed Tether Model
5.1. Dynamics Modeling of TSR
5.1.1. Dynamics Modeling Based on the Hamiltonian Theory
5.1.2. Mathematical Discretization
5.2. Optimal Coordinated Controller
5.2.1. Minimum-Fuel Problem
5.2.2. Hp-Adaptive Pseudospectral Method
5.2.3. Closed-Loop Controller
5.3. Numerical Simulation
Chapter 6: Approaching Control Based on a Movable Platform
6.1. Approach Dynamic Model
6.1.1. The Attitude Model
6.1.2. The Trajectory Model
6.2. Approach Control Strategy
6.2.1. Open-Loop Trajectory Optimization
6.2.2. Feedback Trajectory Control
6.2.3. Feedback Attitude Control
6.3. Numerical Simulation
Chapter 7: Approaching Control Based on a Tether Releasing Mechanism
7.1. Coupling Dynamic Models
7.1.1. Releasing Dynamic Model
7.1.2. Attitude Dynamic Model
7.1.3. Model of Tether Releasing Mechanism
7.1.4. Entire Coupled Dynamics Model
7.2. Coordinated Coupling Control Strategy
7.2.1. The Optimal Trajectory Planning
7.2.2. Coupled Coordinated Control Method
7.2.2.1. Thrusters Layout of Operation Robot
7.2.2.2. Coupled Coordinated Controller Design
7.3. Numerical Simulation
Chapter 8: Approaching Control Based on Mobile Tether Attachment Points
8.1. Orbit and Attitude Dynamic Model
8.1.1. Design of the Mechanism
8.1.2. Attitude Dynamics Model
8.1.3. Orbit Dynamic Model
8.1.4. Task Description of Attitude Control
8.2. Strategy Design of the Coordinated Controller
8.2.1. Attitude Coordinated Controller Design
8.2.1. Coordinated Tracking Controller Design
8.3. Numerical Simulation
8.3.1. Trajectory Planning with Constant Tether Tension
8.3.2. Simulation Results of the Coordinated Control
Chapter 9: Impact Dynamic Modeling and Adaptive Target Capture Control
9.1. Dynamic Modeling of Tethered Space Robots for Target Capture
9.1.1. Dynamic Modeling of the TSR
9.1.2. Dynamic Modeling of the Target
9.1.3. Impact Dynamic Models for the TSR Capturing a Target
9.2. Stabilization Controller Design for Target Capture by TSR
9.2.2. Adaptive Robust Target Capture Control
9.3. Numerical Simulation
Chapter 10: Postcapture Attitude Control for a TSR-Target Combination System
10.1.1. Attitude Dynamics Model
10.1.2. Orbit Dynamic Model
10.2. Coordinated Control Strategies
10.2.1. Parameter Identification
10.2.2. Coordinated Controller of Tether and Thrusters
10.2.3. Thruster Controller Design
10.2.4. Switching Conditions and Parameter Optimization
10.3. Numerical Simulation
Tethered Space Robot
：Dynamics, Measurement, and Control
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