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Super-twisting-based detumbling control for space towing removal using 3-DOF tether link

During towing removal, using tether for debris detumbling is fuel-saving and a 3-DOF tether link able to provide large tension torque can be employed to achieve this. Therefore, this paper aims to explore the control strategy for the mechanism. The system dynamic model governing platform orbit and debris attitude is established. Then, the allocation of 3-axis control torques is discussed and the constraints of link motion and actuator are analyzed. Super-twisting-based sliding mode theory is adopted to develop the control torques and an anti-windup module is used to mitigate actuator saturation. Simulation shows the motion trajectory is feasible and the debris is stabilized to its equilibrium smoothly so that the tether winding with debris is completely avoided.