LAUSR

This paper tackles the problem of integrated translation and rotation stabilization of the spacecraft in proximity operations by proposing a novel manipulator actuation strategy. To do so, by theoretically integrating the attitude/position motion of the spacecraft and the joint motion of the manipulator, a coupled translational and rotational kinematics of the spacecraft with a single space manipulator mounted is formulated, where system unknown parameters and residual system momentum are taken into account and analyzed. Taking the joint motion as the control input, a projection-based adaptive control scheme is then developed such that the translation and rotation of the spacecraft can be robustly stabilized with the manipulator-based actuation. The closed-loop asymptotic stability is guaranteed within Lyapunov framework. Meanwhile, considering the constrained joint motion of the manipulator, the resulting control constraint issue is handled by developing an optimization based bound analysis method, which also facilitates the determination of control parameters. Two scenario numerical simulations demonstrate the effect of the designed control scheme.