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This article presents the collision modeling and two-echelon collaborative control of a novel non-contact ultra-quiet Stewart spacecraft. It has internal instability because of its non-contact configuration. To overcome the instability, the equivalent modeling of repetitive collision process with small releasing velocity is established at first. Then, a two-echelon collaborative control is developed to guarantee both collision rejection and stability performance. Finally, the numerical simulation is conducted to demonstrate the validity and effectiveness of the proposed design.

Collision modeling and two-echelon collaborative control of non-contact ultra-quiet Stewart spacecraft