High tumbling rates of uncooperative target pose strong technical challenges and collision risks that can prevent removal of the debris using contact, such as with robotic arms or capture nets. Electrostatic touchless detumbling is a promising technology that can be used to decrease the rotational velocity of an uncooperative object in geosynchronous orbit, from a safe distance. This paper demonstrates the advantages of applying a Lyapunov optimal control in conjunction with a surface multisphere model. This approach allows for the analysis of general shapes, eliminating the need for analytical approximations on debris shape and expected torque, employed by previous work. Moreover, using this model, the robustness of the system to uncertainties to the debris center of mass position is tested. This analysis uncovers an unstable phenomenon that was previously not captured using simpler models. An active disturbance rejection control ensures robustness of the system in the cases analyzed, also granting an increase in its effectiveness. It is shown in simulation that the system can exploit deviations in the center of mass to achieve a higher level of controllability and completely detumble all components of angular velocity.

不合作的目标的高翻滚率带来了严峻的技术挑战和碰撞风险，可能会阻止使用机器人手臂或捕获网等接触方式清除碎片。静电非接触式脱粒是一种很有前途的技术，可用于从安全距离降低地球同步轨道上不合作物体的旋转速度。本文展示了结合表面多球面模型应用Lyapunov最优控制的优势。这种方法可以分析一般形状，而无需像以前的工作那样对碎片形状和预期扭矩进行分析近似。此外，使用该模型，测试了系统对质量中心碎片中心不确定性的鲁棒性。该分析发现了以前没有使用较简单的模型捕获的不稳定现象。主动的干扰抑制控制可确保在所分析的情况下系统的鲁棒性，同时还可以提高其有效性。仿真表明，该系统可以利用质心的偏差来实现更高的可控性，并完全分解角速度的所有分量。