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A robust asymptotic tracking controller for an uncertain 2DOF underactuated mechanical system motivated by a satellite attitude control problem

Emirsajłow Zbigniew, Barciński Tomasz

International Journal of Applied Mathematics and Computer Science

2025

Vol. 35, no. 1

97--116

The paper is devoted to the theoretical problem of designing a robust asymptotic tracking control system for a rotational motion of a 2DOF underactuated linear mechanical system with parametric uncertainties. The mathematical formulation of the problem is motivated by the attitude control problem of an earth observation satellite with a solar panel. It is assumed that all the parameters of the plant model are uncertain and the plant single input is additively disturbed by an unknown constant torque. By employing the general regulator theory in the state space setup combined with the concept of the structured singular value, we develop a robustly stabilizing and robustly asymptotically tracking error feedback controller. The rotation of the main rigid body of the mechanical system is to asymptotically track a harmonically changing reference signal. The obtained theoretical results are successfully tested on two numerical examples and computations are performed in Matlab.

Development and Testing of a Propulsion System for a Space Robot Platform Operating in 2D Microgravity

Kindracki Jan, Paszkiewicz Przemysław, Mężyk Łukasz, Rybus Tomasz, Seweryn Karol, Barciński Tomasz

Central European Journal of Energetic Materials

2024

Vol. 21, no. 4

384--409

Robotic arms for use aboard satellites continue to attract much research and development interest due to the vast range of potential applications, ranging from satellite servicing to debris removal. The challenges faced relate to the extent of the complexity of the system and the demands made. The Space Research Centre of the Polish Academy of Sciences, in collaboration with the Warsaw University of Technology, was engaged in research aimed at designing and constructing a robotic platform that was equipped with air bearings and operated on a granite table - thereby simulating 2D microgravity conditions. The paper describes the design process of the propulsion system for the platform, which is a new direction for cold-gas thrusters. The specific requirements regarding the propulsion system, solutions for design problems, and the measurement methods and instrumentation were covered briefly. These were followed by presenting the facility configuration, evaluation methodology, representative results of single-engine performance, and platform-propulsive module integration mechanism. Finally, on-board propulsion test results were presented in which a comparison of two maneuvers was given, namely, the realization of the same trajectory by the platform in two distinct robotic arm configurations.

The effect of the coating process thermal cycle on mechanical properties of AA6061-T6 used for load-carrying elements of a space instrument: a case study

Barciński Tomasz, Kosturek Robert, Kowalski Tomasz, Bzowski Maciej, Wawrzaszek Roman, Mostowy Karol, Baran Jędrzej, Daukszo Maciej

Bulletin of the Polish Academy of Sciences. Technical Sciences

2024

Vol. 72, nr 5

art. no. e150338

Components used for the structure of the GLObal Solar Wind Structure experiment in the NASA Interstellar Mapping and Acceleration Probe space mission, made of AA6061-T6 alloy, are subjected to the coating process, where the temperature affects its mechanical properties. This paper aims to examine the impact of the coating thermal cycle on the mechanical properties of AA6061-T6 alloy, which is the load-carrying material in a spaceborne instrument. As a part of the manufacturing process, the parts made of AA6061-T6 are subjected to a coating process at a temperature of about 220◦C for a time longer than 1 hour. This treatment modifies the mechanical properties of the alloy. To evaluate the consequences of this change for spaceborne components, mechanical testing, and numerical simulation were conducted. It was found that as a result of the coating process, the reduction in AA6061-T6 yield strength is about 16%, which entails a decrease in the margins of safety by 25% at its maximum.