中文摘要：

辐射开环空间绳系机器人（tethered space robot,TSR）编队是一种新型的空间绳系编队系统,其在构型稳定性、任务灵活性以及燃料消耗方面具有明显的优势。研究了辐射开环TSR编队自旋转速最优控制问题。首先建立了辐射开环TSR编队的自旋动力学模型;然后对编队自旋转速控制问题以及hp-自适应伪谱法求解最优控制问题的基本原理进行了描述,并设计了基于hp-自适应伪谱法的编队自旋转速闭环最优控制系统;最后通过仿真算例对设计的闭环最优控制系统进行验证和分析。

英文摘要：

The hub spoke tethered space robot （TSR） formation is a novel formation system. The stability, flexibility and fuel consumption of the hub-spoke TSR formation system have been significantly improved. The optimal control problem of the rotating velocity of the hub-spoke TSR formation system is proposed and studied. Firstly, an analytical model is used to describe the rotating hub-spoke TSR formation system. Secondly, the optimal control problem of the rotating velocity and the theory of the hp adaptive pseudospectral method are described. Thirdly, a closed-loop optimal control system based on the hp-adaptive pseudospectral method is estab- lished. Finally, some digital imitations are implemented to validate the proposed closed-loop optimal control system.