Compliant Force Control in Space Docking

Compliant force control in space docking is studied. Compliant force control strategy is developed based on the inner loop position control of 6-dof parallel robot in order to simulate push and pull process of forcible alignment in space docking. Considering uncertainties such as parameter perturbations, model perturbations and external disturbances etc., robust force controller is designed using mu synthesis theory. Robust stability and robust performance are compared by mu analysis between robust force controller and classical force controllers. Experiment results of robust force controller and classical force controllers are shown. The results indicate that the designed robust force controller is of efficiency and superiority.