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Acta Astronautica 69 (2011) 96–108 Contents lists available at ScienceDirect Acta Astronautica journal homepage: /locate/actaastro Experimental study on dynamics and control of tethered satellite systems with climber Hirohisa Kojima a,, Yohei Sugimoto b, Yoshiyasu Furukawa a a Tokyo Metropolitan University, Department of Aerospace Engineering, 6-6 Asahigaoka, Hino, Tokyo 191-0065, Japan b School of Engineering, Aerospace Sciences, University of Glasgow, Glasgow G12 8QQ, Scotland, United Kingdom a r t i c l e i n f o a b s t r a c t Article history: Tethered satellite systems (TSSs) open up the possibility of alternative forms of Received 26 October 2010 transportation such as space elevators, which could conceivably replace conventional Received in revised form space transportation systems in the foreseeable future. A simplified dynamic model of a 9 February 2011 TSS with a single climber is used to evaluate the fundamental librational motion. An Accepted 18 February 2011 Available online 25 March 2011 optimal acceleration climber transit control scheme is developed by solving a two-point boundary value problem (TPBVP) that minimizes the time integral of the square of the Keywords: climber transit acceleration along the tether, along with placing constraints on the final Tethered satellite system tether angle, climber’s position and velocity. The numerical simulations show that if Optimal control