This paper introduces an innovative guidance and control method for simultaneously capturing and stabilizing a fast-spinning target satellite, such as a spin-stabilized satellite, using a spinning-base servicing satellite equipped with a robotic manipulator, joint locks, and reaction wheels (RWs). The method involves controlling the RWs of the servicing satellite to replicate the spinning motion of the target satellite, while locking the manipulator's joints to achieve spin-matching. This maneuver makes the target stationary with respect to the rotating frame of the servicing satellite located at its center-of-mass (CoM), simplifying the robot capture trajectory planning and eliminating post-capture trajectory planning entirely. In the next phase, the joints are unlocked, and a coordination controller drives the robotic manipulator to capture the target satellite while maintaining zero relative rotation between the servicing and target satellites. The spin stabilization phase begins after completing the capture phase, where the joints are locked to form a single tumbling rigid body consisting of the rigidly connected servicing and target satellites. An optimal controller applies negative control torques to the RWs to dampen out the tumbling motion of the interconnected satellites as quickly as possible, subject to the actuation torque limit of the RWs and the maximum torque exerted by the manipulator's end-effector.

翻译：本文提出一种创新的制导与控制方法，用于通过配备有机械臂、关节锁和反作用轮的自旋基座服务卫星，同时捕获并稳定快速自旋的目标卫星（如自旋稳定卫星）。该方法通过控制服务卫星的反作用轮复现目标卫星的自旋运动，并锁定机械臂关节实现自旋匹配。此机动使目标卫星在位于服务卫星质心的旋转参考系中保持静止，简化了机器人捕获轨迹规划，并完全消除了捕获后轨迹规划的需求。在下一阶段，关节解锁，由协同控制器驱动机械臂捕获目标卫星，同时保持服务卫星与目标卫星之间无相对旋转。自旋稳定阶段在捕获阶段完成后启动，此时锁定关节，使刚性连接的服务卫星与目标卫星构成单一体翻滚刚体。最优控制器对反作用轮施加负控制力矩，在反作用轮驱动力矩极限与机械臂末端执行器最大力矩约束下，以最快速度抑制互联卫星的翻滚运动。