Application of predictive control for manipulator mounted on a satellite

• Autorzy: Rybus T. , Seweryn K. , Sąsiadek J. Z.

Identyfikatory

DOI

10.24425/119079

• Języki publikacji: EN

Abstrakty

EN

Specific conditions of on-orbit environment are taken into account in the design of all devices intended to be used in space. Despite this fact malfunctions of satellites occur and sometimes lead to shortening of the satellite operational lifetime. It is considered to use unmanned servicing satellite, that could perform repairs of other satellites. Such satellites equipped with a manipulator, could be used to capture and remove from orbit large space debris. The critical part of planned missions is the capture manoeuvre. In this paper a concept of the control system for the manipulator mounted on the satellite is presented. This control system is composed of the trajectory planning module and model predictive controller (the latter is responsible for ensuring precise realization of the planned trajectory). Numerical simulations performed for the simplified planar case with a 2 DoF manipulator show that the results obtained with the predictive control are better than the results obtained with adaptive control method.

Słowa kluczowe

EN

space robotics; predictive control; trajectory optimization; free-floating manipulator

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2018
• Tom: Vol. 28, No. 1
• Strony: 105--118
• Opis fizyczny: Bibliogr. 18 poz., rys., wykr., wzory

Twórcy

autor

Rybus T.

• Space Research Centre (CBK PAN), Bartycka 18a, Warsaw, Poland

autor

Seweryn K.

• Space Research Centre (CBK PAN), Bartycka 18a, Warsaw, Poland

autor

Sąsiadek J. Z.

• Department of Mechanical and Aerospa ce Eng., Carleton University, Ottawa, Ontario, Canada.

Bibliografia

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• [10] T. Rybus, K. Seweryn and J. Z. Sąsiadek: Nonlinear Model Predictive Control (NMPC) for free-floating space manipulator. In: Aerospace Robotics III, GeoPlanet: Earth and Planetary Sciences. Ed. J. Z. Sąsiadek, 2018, Springer (in press).
• [11] T. Rybus, K. Seweryn and J. Z. Sąsiadek: Układ sterowania manipulatorem satelitarnym wykorzystujący algorytm sterowania predykcyjnego. In: 14th National Conference on Robotics (14. Krajowa Konferencja Robotyki). Proceedings. Polanica Zdrój, Poland, 2016.
• [12] T. Rybus, K. Seweryn and J. Z. Sąsiadek: Trajectory optimization of space manipulator with non-zero angular momentum during orbital capture maneuver. In: AIAA Guidance, Navigation, and Control Conference. Proceedings. San Diego, USA, 2016.
• [13] T. Rybus, et al.: Numerical simulations and analytical analysis of the orbital capture maneouvre as a part of the manipulator-equipped servicing satellite design. In: 17th International Conference on Methods and Models in Automation and Control (MMAR2012). Proceedings. Mięedzyzdroje, Poland, 2012.
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• [15] S. V. Shah, et al.: Energy optimum reactionless path planning for capture of tumbling orbiting objects using a dual-arm robot. In: 1st International and 16th National Conference on Machines and Mechanisms. Proceedings. IIT Roorkee, India, 2013.
• [16] M. Shan, J. Guo and E. Gill: Review and comparison of active space debris capturing and removal methods. Prog. Aerosp. Sci., 80 (2016), 18-32.
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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).