PD-Impedance Control of Docking Mechanism Composed of Intelligent Adaptive Structure

Abstract

A docking mechanism and its control scheme are discussed for high per formance autonomous docking systems. A problem is to achieve soft docking of the system to a satellite approaching the docking mechanism with relative velocity and to absorb the shock of collision. To solve the problem an intelligent adaptive structure is examined to use as the docking mechanism. Control strategy for the docking mechanism is discussed and a PD-impedance control, i.e., impedance control combined with PD-control, is pro posed. The docking mechanism is controlled along an appropriate trajectory by using the PD-impedance control and the soft docking is achieved. Feasibility and advantage of the proposed scheme are verified by numerical simulations.

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