Resistance control: a new collision control method for on-orbit service

Collision of two objects is an inevitable physical phenomenon in the on-orbit service, such as docking, detumbling, and capturing. Preventing the separation of two objects and controlling their contact force after a collision are the keys to successfully executing these on-orbit tasks, particularly when the above-noted tasks involve a noncooperative object. This paper investigates the collision control problem in the on-orbit service in detail. Firstly, we have performed a rigorous analytical study of the damping control method given in our previous work, which can prolong the contact duration after a collision of two objects and has been validated through simulation experiments. Our theoretical analysis proves that the damping control method can successfully extend the contact duration by applying an external force to a collision system, whose functions are to modify the equilibrium position and the damping of the collision system. The external force is also referred to as the damping control force. In addition, inspired by the analysis result, this study has further proposed a new collision control method, also referred to as the resistance control method. Unlike the damping control force that be time-varying, the resistance control force is substantially constant. By adjusting the resistance control force and the initial relative velocity of a collision of two objects, the separation of two objects can be prevented, and their contact force can be controlled and maintained. Moreover, our theoretical analysis and simulation results have both demonstrated the effectiveness of this novel resistance control method over various scenarios.