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Application of predictive control for manipulator mounted on a satellite

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Warianty tytułu
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.
Rocznik
Strony
105--118
Opis fizyczny
Bibliogr. 18 poz., rys., wykr., wzory
Twórcy
autor
  • Space Research Centre (CBK PAN), Bartycka 18a, Warsaw, Poland
autor
  • Space Research Centre (CBK PAN), Bartycka 18a, Warsaw, Poland
  • Department of Mechanical and Aerospa ce Eng., Carleton University, Ottawa, Ontario, Canada.
Bibliografia
  • [1] E. F. Camacho and C. Bordons: Model predictive control. 2nd ed., London, Springer, 2007.
  • [2] A. Ellery, J. Kreisel and B. Sommer: The case for robotic on-orbit servicing of spacecraft: spacecraft reliability is a myth. Acta Astronaut., 63 (2008), 632-648.
  • [3] A. Flores-Abad, et al.: A review of space robotics technologies for on orbit servicing. Prog. Aerosp. Sci., 68 (2014), 1-26.
  • [4] W. Ley, K. Wittmann and W. Hallmann [Eds.]: Handbook of space technology. Singapore, Wiley, 2009.
  • [5] J. L. Junkins and H. Schaub: An Instantaneous Eigenstructure Quasivelocity Formulation for Nonlinear Multibody. Dynamics. J. Astronaut. Sci., 45 (3) (1997), 279-295.
  • [6] E. G. Kaigom, T. J. Jung and J. Rossmann: Optimal Motion Planning of a Space Robot with Base Disturbance Minimization. In: 11th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA’2011). Proceedings. Noordwijk, The Netherlands, 2011.
  • [7] R. Mccourt and C. W. De Silva: Autonomous robotic capture of a satellite using constrained predictive control. IEEE/ASME Trans. Mechatronics, 11 (6) (2006).
  • [8] M. Oda: Summary of NASDAs ETS-VII robot satellite mission. J. Robot. Mechatron., 12 (4) (2000).
  • [9] T. Rybus, K. Seweryn and J. Z. Sąsiadek: Control system for freefloating space manipulator based on Nonlinear Model Predictive Control (NMPC). J. Intell. Robot. Syst., 85(3) (2017), 491-509
  • [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.
  • [14] K. Seweryn and M. Banaszkiewicz: Optimization of the trajectory of a general free-flying manipulator during the rendezvous maneuver. In: AIAA Guidance, Navigation, and Control Conference and Exhibit. Proceedings. Honolulu, Hawaii, USA, 2008.
  • [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.
  • [17] S. Ulrich and J. Sąsiadek: Modified simple adaptive control for a twolink space robot. In: IEEE American Control Conference. Proceedings. Baltimore, Maryland, USA, 2010.
  • [18] D. M. Waltz: On-orbit Servicing of Space Systems. Malabar, Kriger, 1993
Uwagi
PL
Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-c2eaae62-51bc-4843-9e1d-9dc8f728f86c
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