NMPC-Based Optimal Momentum Distribution for Post-Capture Detumbling Control of Cable-Driven Space Robot

Cable-driven redundant space manipulators (CDRSMs) combine high maneuverability with inherent compliance, rendering them ideal for on-orbit servicing missions involving the capture and stabilization of tumbling targets. A critical challenge in post-capture operations is mitigating the target's residual angular momentum, which may destabilize the system. This paper proposes an optimal detumbling control framework integrating momentum conservation principles and nonlinear model predictive control (NMPC). First, the dynamics of the coupled manipulator-target-base system are derived. A momentum redistribution strategy is then designed to reduce base disturbances. Additionally, a coordinated control scheme is introduced to simultaneously optimize joint velocities of the manipulator and reaction wheel speeds, accounting for basemanipulator dynamic coupling. Numerical simulations demonstrate the framework's efficacy.