Constrained mechanical systems modeling and control: A free-floating space manipulator case as a multi-constrained system

Jarzbowska, E.; Pietrak, Karol

doi:10.1016/j.robot.2014.04.004

Cited by 23 publications

(14 citation statements)

References 12 publications

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“…(3) is called the nonholonomic constraint equation and the space robots are sometimes considered nonholonomic control systems and control designs for them follow nonlinear control technique methods. More details toward control of the space manipulator can be found in, e.g., [4,13,14].…”

Section: Dynamic Modeling Of Spacecraft: the Existing Approaches Modmentioning

confidence: 99%

Quaternion-Based Spacecraft Dynamic Modeling and Reorientation Control Using the Dynamically Equivalent Manipulator Approach

Jarzębowska¹,

Kłak²

2020

Advances in Spacecraft Attitude Control

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The chapter presents modification of a dynamically equivalent manipulator (DEM) method, which enables dynamic modeling of space robots and manipulators, including free-floating maneuvers, via their suitable substitution by groundfixed manipulator models. DEM provides an attractive modeling and control design tool, since it enables conducting tests and experiments for space vehicles in earth laboratories. The modification of DEM method relies upon an introduction of quaternion-based modeling of manipulator attitude. Originally, DEM method was developed in Euler angles. The basic motivation for the presented DEM modification is to make dynamic and kinematic models more suitable for description of space robots and manipulator motions and their missions like debris removal, spacecraft servicing, space mining, and on-orbit docking and assemblies. It may also support control designs. The theoretical development is illustrated by an example of generation of spacecraft quaternion-based dynamics and simulation studies of its reorientation maneuvers.

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Section: Dynamic Modeling Of Spacecraft: the Existing Approaches Modmentioning

confidence: 99%

Quaternion-Based Spacecraft Dynamic Modeling and Reorientation Control Using the Dynamically Equivalent Manipulator Approach

Jarzębowska¹,

Kłak²

2020

Advances in Spacecraft Attitude Control

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“…In extreme situations, a space robot can be controlled in an open loop, basing only on an initial state and an accurate mathematical model. However, taking into consideration that capturing with a robotic arm is a highly dynamic and risky manoeuvre, it is very important to develop a closed loop control system with signals from specialized sensors [1], [10], [18], [34], [42].…”

Section: Testing Capabilities Of Space Robots Control Systemsmentioning

confidence: 99%

“…In current 2D simulations, matrix A # takes the following form: (18) where: a = 0.2492, b = 2.2e -4 , c = -7.99e -4 , d = 0.25022, e = 0.625, g = 0.2508, h = 0.24987.…”

Section: Modifications Of Testing Systemmentioning

confidence: 99%

2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Oleś¹,

Kindracki²,

Rybus³

et al. 2017

JAMRIS

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“…Besides, the parameters in the proposed controller are: ε = 0.01, ε λ = 1, K 2 = diag (20,20,20), P = diag(0.01,20,0.1).…”

Section: Simulation Verificationmentioning

confidence: 99%

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

Huang

Wang

Zhang

et al. 2016

Intl J Robust & Nonlinear

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Summary Stabilization control is an essential mission for the tethered space robot‐target combination during the postcapture phase of tethered space robot (TSR). In this paper, the stabilization problem of such a tumbling combination is studied. With the consideration of the space tether and the attitude of the TSR's gripper, the dynamic model of the combination is first derived using Lagrange method. Then a robust nonlinear controller for the combination is proposed based on the backstepping control method. Considering the constraint on the velocity of the space tether, command filter method is utilized to guarantee the velocity of the space tether within a permitted range. A feedback term is designed to compensate the saturation of the thruster. Moreover, an adaptive law is designed to estimate the disturbance of parameter uncertainties and this disturbance is compensated in the proposed controller. Numerical simulations suggest that the proposed robust controller can realize the orbit and attitude stabilization of the combination; besides, the velocity of the space tether is effectively constrained and the parameter uncertainties of the combination can be compensated via the adaptive law. Copyright © 2016 John Wiley & Sons, Ltd.

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Constrained mechanical systems modeling and control: A free-floating space manipulator case as a multi-constrained system

Cited by 23 publications

References 12 publications

Quaternion-Based Spacecraft Dynamic Modeling and Reorientation Control Using the Dynamically Equivalent Manipulator Approach

Quaternion-Based Spacecraft Dynamic Modeling and Reorientation Control Using the Dynamically Equivalent Manipulator Approach

2D Microgravity Test-Bed for the Validation of Space Robot Control Algorithms

Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether

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