Coordinated Control of Space Manipulators with Detumbling Target

This paper presents a coordinated control scheme for space manipulators. The dynamics of both space manipulators and space-tumbling targets are established. A target reference angular acceleration scheme is designed to facilitate the detumbling controller, ensuring that the space target can be detumbled and remain in the desired attitude. A sliding variable is designed to effectively control the convergence of joint trajectories tracking errors to zero. Furthermore, the coordinated controller is carefully designed for joints trajectories tracking while detumbling the space target. Simulation results demonstrate the efficiency of the proposed coordinated controller scheme in addressing the control problem of space manipulators while successfully detumbling the space target.