Extended Online Nonholonomy Criterion of a Drifted Free-Flying Space Robot with/without Interaction with a Target Satellite

This paper presents an extended nonholonomy criterion of momentum constraints imposed on a free-flying space robot with or without interaction with a floating object. This criterion is proposed to verify the nonholonomy of such a system under consideration with nonzero initial conditions (momentum with a drift) by utilizing the concept of orthogonal projection matrices and singular value decomposition (SVD). This criterion can be used to verify the nonholonomy of a space robot exposed to different types of constraints. Using this methodology enables us to verify online whether the constraints are violated in case of real-time applications and to take a correction action or switch the controllers. This criterion is still yet valid even the interaction with floating object is lost. Finally, simulation results are presented to demonstrate the proposed criterion