D. P. Jin

Nanjing University of Aeronautics & Astronautics

This study presented a comprehensive reduced-order modeling and solution method for multi-harmonic nonlinear frequency response analysis of large space truss structures with nonlinear joints. In the modeling method, the multi-harmonic describing function method was used to obtain the equivalent linearized model of the nonlinear joint, then a conden...

Utilizing the tether-aided rendezvous and docking to realize an on-orbit autonomous assembly of multiple spacecraft is a novel and prospective space mission. The paper presents the dynamics and control of this assembly mission mode in a spinning scenario numerically and experimentally. The system equations in general form are first established. Bas...

This study focuses on stabilizing the libration dynamics of an electrodynamic tether system (EDTS) using generalized torques induced by the Lorentz force. In contrast to existing numerical optimization methods, a novel analytical feedback control law is developed to stabilize the in-plane and out-of-plane motions of a tether by modulating the elect...

This article is concerned with the geometric tracking control of a free-flying space robot with predefined-time stability. To overcome the singularity and nonuniqueness issues in attitude representation, kinematics and dynamics of the space robot are formulated on $\bm {SE(3)}$ . By virtue of the geometric description and proper configuration err...

This paper presents a nonlinear response of a planar repetitive space truss with polynomial-nonlinear joints based on a multi-harmonic equivalent continuum beam model. The nonlinear joints are modeled as the multi-harmonic dynamic stiffness matrix with eccentricity. To overcome the limitation of classical equivalent method based on energy, a high-o...

This paper investigates the dynamic response of space flexible structures with control moment gyroscopics (CMGs) in which uncertain-but-bounded parameters are considered. The uncertainties in the dynamic modeling of flexible structure are treated as interval parameters and an interval gyroscopic model is established. Afterwards, a rational series e...

This study presented an equivalent continuum modeling method for analysis of the transient response of the large space truss structures with nonlinear elastic joints. Firstly, a two-node hybrid joint-beam element model was established for a truss member with two nonlinear joints at its both ends based on the geometrical relationship and equilibrium...

This work is concerned with the theoretical development of an equivalent nonlinear continuum beam element for the repetitive truss with nonlinear joints and discrete control moment gyroscopes. Firstly, using the dynamic condensation method and the multi-harmonic constitutive matrix of nonlinear joint, the hybrid beam-joint element is derived by eli...

Abstract This study proposes a spider‐web elastic metamaterial to suppress vibrations in space slender structures, such as flexible space tethers. The metamaterial consists of unit cells that are periodically distributed on the space tether to obtain band gaps. The finite element model of the unit cell is established by employing the absolute nodal...

Utilizing the autonomous rendezvous and docking among multiple spacecraft to construct a large space structure is a prospective on-orbit autonomous assembly mission. This paper presents a planar air-bearing experiment on the autonomous assembly of two chaser spacecraft simulators and one spinning target spacecraft simulator. The mission process inc...

The vibration generated by the inflatable structure after deployment has a great impact on the performance of the payloads. In this paper, the influence of the control moment gyroscopes (CMGs) on the dynamic responses and characteristics of an inflatable space structure is studied, based on the flexible multibody dynamics in a combination of the ab...

In this study, we investigate nonlinear dynamics of the autonomous separation deployment maneuver for a space multi-rigid-body system with uncertain-but-bounded parameters by using a high-efficiency interval analysis method. Based on the virtual work principle, the natural coordinate formulation method is used to describe the variations in displace...

This paper focuses on the nonlinear dynamics and control problem of deorbiting an electrodynamic tethered satellite system in an inclined elliptical orbit. Considering the perturbing Lorenz forces, a set of modified equinoctial elements is employed to describe the slow-varying orbital dynamics. In addition, the fast-varying attitude dynamics of the...

Inflatable space structures may undergo the vibration of a long duration because of their features of dynamic deployment, high flexibility, and low-frequency modes. In this paper, a topology optimization methodology is proposed to reduce the vibration of a spinning inflatable structure. As the first step, a variable-length shell element is develope...

How nonlinear joints affect the response of large space structures is an important problem to investigate. In this paper, a multi-harmonic equivalent modeling method is presented to establish a frequency-domain model of planar repetitive structures with nonlinear joints. First, at the local level, the nonlinear joint is modeled by the multi-harmoni...

Stacked satellites have a promising application in aerospace engineering for the merits of high launch efficiency and networking capability. As one of the key technical points, releasing tens or even hundreds of satellites from the stacked state in a simple and contact-free manner is of importance. In this paper, the contact-free release dynamics o...

The vibration generated by the inflatable structure after deployment has a great impact on the performance of the payloads. In this paper, the influence of the control moment gyroscope (CMG) on the dynamic responses and characteristics of an inflatable space structure is studied, based on the flexible multibody dynamics in combination of the absolu...

This paper investigates the dynamics of the separation deployment for a multi-satellite system using elastic ejection mechanisms. To circumvent the difficulties in dynamic modeling of the complex system, a dynamic model is established using the automatic dynamic analysis of mechanical system software. In addition, separation deployment strategies a...

This study focuses on the global dynamics of a linear tethered satellite formation (LTSF). Specifically, the influence of the initial states of the system on the motion forms and their critical values are presented in detail. First, an approximate but useful model for a high-dimensional nonlinear system is established in a noninertial reference fra...

PurposeThis paper aims to identify the modal parameter of flexible structures with closely spaced modes under ambient excitation based on improved empirical wavelet transform (IEWT) method.MethodsA spectral segmentation is performed based on the standardized autoregressive power spectrum of the structural response under ambient excitation. The resp...

This paper investigates the nonlinear dynamics and control for three-dimensional retargeting maneuver of a flexible multi-tethered satellite formation at the sun-earth L2 libration point. In Hill’s problem, a fundamental modeling strategy is adopted to develop two dynamic models, a flexible one for dynamic simulation and a rigid one for control des...

A long tethered sub-satellite system (LTSS) has a promising application for earth observation, which requires that the LTSS spins towards the earth. Due to the long flexible tethers and the spinning of the LTSS, the system exhibits dynamics of high nonlinearity and high complexity. While most previous studies did not consider more than three satell...

The paper presents a high-efficient finite difference method for solving the PDE model of the single-link flexible manipulator system with boundary feedback control. Firstly, an abstract state-space model of the manipulator is derived from the original PDE model and the associated boundary conditions of the manipulator by using the velocity and ben...

This paper focuses on the nonlinear dynamics and control for the spin-up maneuver of an electrodynamic tethered satellite system in an inclined elliptical orbit. A nonsingular formulation is established by using a unit vector along the tether to define the tether orientation and avoid the Euler angle singularity, and is adopted to describe the atti...

This study presented an equivalent modeling method for analysis of the fundamental harmonic response of the spatial repetitive lattice structures with hysteretic nonlinear joints. Firstly, the joint was modelled as a spatial nonlinear spring-damper system with bilinear hysteresis, the equivalent linear stiffness and viscous damping coefficients of...

For the problem of robotic grasping, a PD closed-loop iterative learning control law is proposed in this paper to reduce the tracking error of end-effector and improve the grasp success rate. The forward and inverse kinematics models of a UR5 manipulator are established to facilitate controller design. The pose of the target object is measured usin...

The nonlinear dynamics of a flexible rotating multi-tethered satellite formation in a Halo orbit with uncertain-but-bounded parameters are examined in this paper via an interval analysis method. In Hill's problem, equations of motion for the focused system are derived with the flexibility and extensibility of tethers involved. Not limited to the sy...

This paper focuses on the boundary control of a Timoshenko beam with a tip mass in space. Compared with an Euler–Bernoulli beam model, the coupling of the Timoshenko beam’s transverse vibration and its cross-sectional rotation makes it difficult to develop the controller. The Timoshenko beam is essentially a distributed parameter system, the motion...

This paper is concerned with fuzzy control for deployment of space tethered system subject to tension constraint. The space tethered system under consideration consists of two satellites connected through a straight, massless, and inextensible tether. Unlike the existing results, in this study a fuzzy model of the underactuated space tethered syste...

This paper studies the robust fuzzy attitude control strategy for the networked spacecraft consisting of physically independent modules that interact through network communication. The effects of inertia uncertainties, delayed feedback, actuator saturation, and external disturbances are simultaneously taken into account when designing the attitude...

The spacecraft rendezvous and docking technology has been playing an important role in space missions. This study deals with the planar rendezvous and docking of a chaser spacecraft simulator with a spinning target spacecraft simulator on the air-bearing testbed. On the basis of relative pose information for positions and attitudes, the paper prese...

The objective of this work was to suppress the vibration of flexible structures by using a distributed cooperative control scheme with decentralized sensors and actuators. For the application of the distributed cooperative control strategy, we first propose the multiple autonomous substructure models for flexible structures. Each autonomous substru...

The paper focuses on the separation and deployment dynamics of an on-orbit compactly connected multi-rigid-body (MRB) system, which could separate autonomously from a carrier spacecraft. Based on the focused MRB system, it is not necessary to repeatedly use the launcher of the carrier spacecraft or install multiple launchers in the spacecraft to se...

This paper investigates a boundary control scheme of a spacecraft with double flexible appendages under prescribed performance. The flexible spacecraft system comprises a rigid central hub and two flexible appendages regarded as continuum models, so that the motion of the system can be portrayed by using partial differential equations (PDEs). In th...

This paper focuses on the complex dynamics and control of deploying a payload using a long flexible tether from a spacecraft. Two different system models are involved, one for detailed dynamics study and the other for control design. Both the flexibility and extensibility of tether and the attitude motion of spacecraft have been incorporated into t...

The paper investigated the equivalent continuum modeling of beam-like repetitive truss structures considering the flexibility of joints, which models the contact between the truss member and joint by spring-damper with six directional stiffnesses and dampings. Firstly, a two-node hybrid joint-beam element was derived for modeling the truss member w...

This paper studies the spinning stability of a triangular tethered satellite formation that flies on a low earth orbit. The spinning around the center of mass at a constant angular rate gives rise to a periodic motion in the non-inertial orbital frame. Floquet theory is used to analyze the stability of the periodic motion. A dynamic similarity betw...

This paper focuses on the dynamics and control problems of deploying a small tethered payload from a massive spinning target in space such that the target can be gradually de-spun via the induced torque by the tether tension. The deployment control task is subject to a special limit that the control action should be made only by regulating the teth...

Tethered satellite systems (TSSs) have shown great application potential in space missions, such as debris capture, active debris removal, and tether assisted observation. When the tether is deployed on-orbit, it may undergo a taut-slack process. This makes controlling a tether deployment more difficult than controlling a suspended tether. This pap...

This paper focuses on the rigid-flexible coupling modeling and dynamics of a bare tape-shaped Tethered Satellite System (TSS). The rigid element is adopted to discretize the tape-shaped tether into a system of rigid bodies with equivalent linear springs and dampers serving as the junctions between the adjacent rigid elements. The equations of motio...

Various promising applications of electrodynamic tether have been proposed for space missions over the past decades. A crucial issue of these missions is to deploy an electrodynamic tether under a rapid and stable state. This paper aims to stabilize the libration motions of a bare electrodynamic tether during its three-dimensional deployment. The t...

The nonlinear resonance behavior of a rigid-flexible space antenna deployed from the main body of a satellite is studied in this paper. At first, the nonlinear dynamic equations of in-plane motion of the antenna system of four degree-of-freedom are derived by using the Lagrange equation and the assumed modes method. Then the resonance and non-reson...

Tethered satellite systems (TSSs) have attracted significant attention due to their potential and valuable applications for scientific research. With the development of various launched on-orbit missions, the deployment of tethers is considered a crucial technology for operation of a TSS. Both past orbiting experiments and numerical results have sh...

This paper studies a new boundary control strategy for a flexible manipulator subject to unknown fast time-varying disturbances. The flexible manipulator essentially is an infinite dimensional continuum. Hence, a continuous function of space and time can be employed to describe the position of such a distributed parameter structure, the motion of w...

This paper studies the nonlinear response of a T-shape space antenna structure composed of two rigid arms jointed by a spring and two uniform beams made by isotropic material. Based on the Lagrange equation and the assumed modes method, the nonlinear dynamic equations of in-plane motion of the rigid-flexible coupled antenna are established, with fo...

State observer design is a crucial step in active vibration control of large flexible space structures (LFSSs). Since the LFSSs often have lower natural frequencies, high modal density and low damping, the traditional observer design methods which use the modal truncation model are easily leading to the problem of observation spillover. Instead, th...

Full-text access(view only): http://rdcu.be/xF8J __________ In this paper, the attitude maneuver control problem is investigated for a rigid spacecraft by using the array of two variable speed control moment gyroscopes with gimbal axes skewed to each other. The mathematical model is constructed through taking the spacecraft and variable speed contr...

Based on the nonlinear dynamic equations of a tethered satellite system with three-dimensional attitude motion, an analytical tether length rate control law for deployment is derived from the equilibrium positions of the system and the scheme of the value range of the expected in-plane pitch angle. The proposed control law can guarantee that the te...

The deployment process of a tethered satellite system in a space environment is by nature unstable due to the negative-damping effect in the system. Hence, this paper addresses the deployment stability in controlling a space flexible tethered satellite in which the perturbations from a space environment, such as the perturbation, air drag force, an...

This lecture presents the recent studies of authors on the autonomous assembly for a team of flexible spacecraft on orbit via dynamic modeling, theoretical analysis, numerical simulations and experimental verifications. The lecture starts with the proper dynamic modeling of a rigid spacecraft with a flexible appendage. To realize the autonomous ass...

The paper presents a distributed finite-time controller for multiple under-actuated spacecraft with flexible appendages to track a virtual leader with stationary states under an undirected communication graph. Each spacecraft of concern is simplified as a free-floating hub-beam system, which is an under-actuated Euler-Lagrange system by nature sinc...

Previous studies have shown that the absolute coordinate-based formulation is an accurate modeling approach for the rigid-flexible multibody system subject to both large rotation and large deformation. However, it is almost impossible to design the complex controller for a rigid-flexible multibody system via the absolute coordinate-based formulatio...

In this paper, a novel control strategy is developed based on artificial potential field for the on-orbit autonomous assembly of four flexible spacecraft without inter-member collision. Each flexible spacecraft is simplified as a hub-beam model with truncated beam modes in the floating frame of reference and the communication graph among the four s...

The nonlinear dynamics of a flexible space antenna supported by a serial of two rigid arms mounted on a heavy satellite is studied under the conditions of 2:1 or 3:1 internal resonances. The nonlinear dynamic equations of the in-plane vibration of the antenna system of three degrees of freedom are derived first via the method of assumed modes. Then...

For the application of robotically assembling large space structures, a feedback control law is synthesized for transitional and rotational maneuvers of a ‘tug’ spacecraft in order to transport a flexible element to a desired position without colliding with other space bodies. The flexible element is treated as a long beam clamped to the ‘tug’ spac...

The design of linear quadratic optimal controller using spectral factorization method is studied for vibration suppression of curved beam structures modeled as distributed parameter models. The equations of motion for active control of the in-plane vibration of a curved beam are developed firstly considering its shear deformation and rotary inertia...

The concept of space tether has found a great deal of promising applications in space engineering. A prerequisite of any space tether mission is to deploy its tether to a commanded length. This paper aims to achieving the three-dimensional deployment of an electro-dynamic tether system in a propellant-free manner via the feedback control of the ten...

A current control law using output feedback is developed to achieve the rapid and stable deorbit of an electrodynamic tether system. The proposed control scheme is based on the idea of model predictive control which allows simultaneously to optimize a performance target and introduce system constraints and nonlinear dynamics. Instead of posing hard...

This paper studies the chaotic motions of a tethered satellite system by utilizing a ground-based experimental system. Based on dynamics similarity principle, a dynamical equivalent model between the on-orbit tethered satellite and its ground physical model is obtained. As a result, the space dynamics environment of the tethered satellite can be si...

The paper presents an asymptotic stabilization strategy for the deployment of a controlled tethered satellite system in three-dimensional space, in which the tether length rate is taken as the control variable. Firstly, a rigid-rod tether model is employed to establish the nonlinear dynamic equations of in-plane and out-of-plane motions of the syst...

The technology of robotic spacecrafts has been identified as one of the most appealing solutions to the on-orbit construction of large space structures in future space missions. As a prerequisite of a successful on-orbit construction, it is needed to use small autonomous spacecrafts for the transportation of flexible elements. To this end, the pape...

The aim of this study was to investigate the nonlinear normal modes (NNMs) of an in-plane tethered satellite system (TSS) during state-keeping phase. The equations of the in-plane motion are derived for the TSS, and the analytic solutions under the three-to-one and one-to-one internal resonances are obtained by applying the method of multiple scale...

TYPICAL electrodynamic tether (EDT) system consists of two end bodies connected by a conductive tether in space [1]. The technological interest of EDT systems arises mostly from their potential utilization for reboosting the spacecraft's orbit or deorbiting defunct satellites and space debris. The electric current flowing in an EDTwill interact wit...

Multiple spacecraft that work in concert to assemble as a cohesive unit will play an important role in future space missions. In addition, the individual spacecraft trends to be more and more flexible. A typical flexible spacecraft usually consists of a relatively rigid craft body with one or more flexible appendages, which can be reasonably simpli...

This note develops a nonlinear tension control law for the deployment of space tethers, where the positive tension constraint is explicitly accommodated by a special form of saturation function. The feedback in the proposed controller is given analytically in terms of tether length and deployment rate, without the need of full state information. Co...

The paper studies the nonlinear dynamics of a flexible tethered satellite system subject to space environments, such as the J 2 perturbation, the air drag force, the solar pressure, the heating effect, and the orbital eccentricity. The flexible tether is modeled as a series of lumped masses and viscoelastic dampers so that a finite multidegree-of-f...

The paper presents a tension control law to stabilize the motions of a Tethered Space-Tug system during its deorbiting process by regulating the tension in the tether. The tension control law is designed on a basis of two straightforward ideas, i.e., the potential energy shaping and the damping injection. The law is expressed in an analytical feedb...

The paper presents how to stabilize the deployment and retrieval processes of a space tether system via the tension control, where the model predictive control is exploited to optimize the control performance while the nonlinear dynamics and tension constraint are explicitly taken into account. A new scheme of online quasi-linearization iteration i...

This paper studies chaotic control of a tethered satellite system (TSS) driven only by a momentum-exchange device during its attitude adjustment. In dealing with such the underactuated system, an extended time-delay autosynchronization (ETDAS) is employed to stabilize the chaotic motion to a periodic motion. To obtain the control domains of the ETD...

An analytic method studying the in-plane chaotic motion of an asymmetric rigid spacecraft with a tethered body is presented. Starting with the lumped masses modeling the viscoelastic tether, a numerical simulation of pitch motion of the tether is made. According to the configurations of the tether during the pitch motion, a simplified rod model is...

The paper studies chaotic motions of a tethered spacecraft by utilizing the ground-based experimental system. Based on the dynamics similarity principle, the dynamic equivalent model between the on-orbit tethered spacecraft and its ground experiment system are obtained. The space dynamics environment of the tethered spacecraft is simulated with the...

The paper gives a brief summarization on the research of tethered satellite formations, starting with formation configurations and their stabilities. The dynamical behaviors such as spinning motions, tether vibrations, and periodic motions in the vicinity of L2 libration point are summarized. The dynamics and control concerned with the deployment/r...

An analytical method for computing the dynamic characteristics of a lenticular inflatable parabolic reflector supported by an inflatable torus is presented. The system is modeled by a combined structure consisting of two pressurized paraboloidal membranes with an elastic circular ring support. Equations of motion for the transverse free vibration o...

The ground-based experiment of a tethered satellite system becomes increasingly important in order to get an insight into its dynamics and control. With the accurate modeling for a ground tethered satellite, however, it necessary to deal with the undetermined parameters in dynamics model. The vast majority of the physical parameters are to be ident...

The paper presents the deployment and retrieval control of a tethered satellite system from both theoretical and experimental points of view. The ideas of online optimization and receding horizon control enable one to design a feedback controller for the tethered satellite system. The presented feedback control law is not in any closed-form, but ca...

Ultra-lightweight thin-film membranes are being developed for a variety of space deploya-ble/inflatable structures. The paper presents an analytical method to calculate transverse vibrations of a prestressed shallow paraboloidal membrane of revolution. First, the nonlinear theory of shallow shell is utilized to establish the nonlinear equations of...

The paper presents an experimental research on motion control of a ground-based tethered subsatellite with a controllable rigid arm between the subsatellite and the tether. The forces acting on the tethered subsatellite are first obtained through the dynamic similarity between the subsatellite and a tethered satellite orbiting the Earth. And then,...

This paper studies the kinematics and the dynamics of the asymmetric scissor structure composed of rigid rods and with one degree of freedom. First, the kinematical formulas for determining the position of all the rods of the scissor structure are derived in terms of its generalized coordinate. Then the mass matrix and the constraint equations are...

The tethered satellite system, which is deployed from another flying vehicle in space via a tether, is a new technology for artificial gravity creation, LEO to GEO tether transportation, scientific and technological applications, electro-dynamic study, and so on. This paper first surveys experimental researches of the tethered satellite systems on...

Based on energy equivalence principle, a dynamic modeling method is presented for the hoop truss structure with periodic square unit. The displacement of any point in the periodic unit subjected to kinemaical assumptions are formulated through the displacement and strain components at the center of unit. Considering that the strain energy and kinet...

The nonlinear dynamics of tethered satellite system is studied for the attitude motion of mother satellite. Firstly, the planar dynamical model of two degree-of-freedom is established for a tethered satellite system moving in an elliptical orbit during station-keeping phase. The periodic motion is obtained by performing the perturbation analysis wi...

This paper is devoted to the nonlinear inner resonance of an in-plane tethered satellite system coupled by the elasticity of the tether and pitching motion. A planar nonlinear dynamical model of the tethered satellite system that moves in an elliptical orbit during state-keeping stage is established using Kane's equation method and the condition of...

The paper reveals the quasi-periodic characteristics of a tethered sub-satellite with attitude by numerical approach and ground-based experiment. The dimen-sionless ordinary differential equations that govern the dynamics of the tethered satellite system are obtained according to Kane's method first. Numerical simulations show that there exist a qu...

The paper presents an investigation on the position and attitude control problem concerning the in-plane motions of a tethered sub-satellite, the attitude of which is controlled by using a controllable arm instead of momentum-wheel actuation in the phase of tether deployment. There are two main steps in the design of the controller. Firstly, a stud...

The nonlinear resonant behavior of a subsatellite on a short constant tether during station-keeping phase is investigated in this paper. The nonlinear dynamic equations of in-plane motion of the system are derived based on Kane’s method first. Then an approach of multiple scales expressed in matrix form is employed in solving the simplified nonline...

In this paper, the lumped mass finite element is proposed to describe the one-dimensional continuum during deployment/retrieval. The discrete dynamic model that is capable of describing the time-varying multi-degrees-of-freedom system is presented. Because of the time-varying properties, the local elements of the system need to be redivided when th...