Control of rotation-floating space robots with flexible appendages for on-orbit servicing

Kraïem, Sofiane; Rognant, Mathieu; Biannic, Jean‐Marc; Brière, Yves

doi:10.23919/ecc54610.2021.9655019

Cited by 4 publications

(6 citation statements)

References 14 publications

(19 reference statements)

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“…the flexible and linear spacecraft dynamics) are included with an extended state observer as well as an estimation of a disturbance torques induced by the modeling error. Besides allowing the decoupling of actuators and adequately linearize the system, the ESO allows to efficiently use reaction-wheels as a rejection mean of spacecraft base rotations induced by the internal disturbance torque [28]. The addition of a nonlinear disturbance torque (NDO) has a similar purpose for the compensation of modeling errors.…”

Section: Fig 2 Block Diagram Of the Proposed Joint Space Control Methodsmentioning

confidence: 99%

“…On another hand, the NDO is designed using only actuators' velocities, as accelerations are not available measures. With the proposed method, both control and observers performances are interdependent [28] which motivates a common gains synthesis to insure system stability. From our previous works [28,32], the novelty of the present study resides in the adaptation of gains synthesis method that includes discussion on significant system evolution, modeling uncertainties and measurement errors.…”

Section: Fig 2 Block Diagram Of the Proposed Joint Space Control Methodsmentioning

confidence: 99%

“…Despite the challenges to derive the dynamics of a rigid-multi-body SMS with flexible appendages, this effort of system modeling allows to develop control strategies with efficient disturbances rejection. For instance, a manipulator's end-effector trajectory optimization can include vibration suppression objectives while capturing a defined target [27] or an input disturbance torque can be included to improve control performances for an OOS operation [28]. The Newton-Euler approaches are mostly used to obtain the dynamics for a combination of rigid and flexible bodies system [29,30] but Lagrangian methods which are well suited to control design can also be adopted [31].…”

Section: Introductionmentioning

confidence: 99%

“…Focusing on the above flexible aspects, systems uncertainties and large variations during OOS operations, this paper builds upon preliminary works [11,28,32] where the benefits of developing a common base and manipulator control strategy using an extended state observer to reject the internal perturbations despite systems variations were clearly demonstrated.…”

Section: Introductionmentioning

confidence: 99%

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Dynamics and robust control of a space manipulator with flexible appendages for on-orbit servicing

Kraïem¹,

Rognant²,

Biannic³

et al. 2022

CEAS Space J

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Space manipulators allow to respond to a variety of problems in future space exploitation and exploration such as on-orbit deployment, active debris removal or servicing operations. However, a difficulty to autonomously control space manipulator systems arise with large and light structures presenting flexible behavior. Flexible dynamics remain a challenging study focus as its modeling may present a first difficulty while the different coupling with the manipulator may deteriorate the control quality. This paper addresses design and control problems related to autonomous space manipulator equipped with kinetic moment exchange devices for spacecraft rotation control when dealing with system internal disturbances, model uncertainties and measurement errors. One advantage of modeling the rigid-flexible dynamics of a multi-body system is the possibility of including the non-measurable states in the system decoupling and linearization. In this work, in addition to the development of an Extended State Observer (ESO) that estimate the flexible dynamics, a Nonlinear Disturbance Observer (NDO) is also introduced and included in a Nonlinear Dynamic Inversion (NDI) framework where both modeling uncertainties and measurement errors are considered. Inter-dependencies between observers and control dynamics motivate a simultaneous computation of their gains to improve system stability and control performances. This is achieved by the resolution of Linear Matrix Inequalities (LMI). In order to highlight the interest of the proposed scheme and validate our approach in a realistic environment, extensive tests of an on-orbit space telescope assembly use-case are performed on a high-fidelity simulator.

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Section: Fig 2 Block Diagram Of the Proposed Joint Space Control Methodsmentioning

confidence: 99%

Section: Fig 2 Block Diagram Of the Proposed Joint Space Control Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Dynamics and robust control of a space manipulator with flexible appendages for on-orbit servicing

Kraïem¹,

Rognant²,

Biannic³

et al. 2022

CEAS Space J

Self Cite

View full text Add to dashboard Cite

show abstract

“…Vibration suppression was illustrated by establishing a dynamic grasping area to describe the contact procedure of the capture device grasping target in reference [ 15 ]. Control of rotation-floating space robots with flexible appendages specifically for on-orbit servicing was proposed in [ 16 ]. Techniques were suggested using a composite two-time-scale control system [ 17 ].…”

Section: Introductionmentioning

confidence: 99%

Space Robot Sensor Noise Amelioration Using Trajectory Shaping

Kuck,

Sands

2024

Sensors

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Robots in space are necessarily extremely light and lack structural stiffness resulting in natural frequencies of resonance so low as to reside inside the attitude controller’s bandwidth. A variety of input trajectories can be used to drive a controller’s attempt to ameliorate the control-structural interactions where feedback is provided by low-quality, noisy sensors. Traditionally, step functions are used as the ideal input trajectory. However, step functions are not ideal in many applications, as they are discontinuous. Alternative input trajectories are explored in this manuscript and applied to an example system that includes a flexible appendage attached to a rigid main body. The main body is controlled by a reaction wheel. The equations of motion of the flexible appendage, rigid body, and reaction wheel are derived. A benchmark feedback controller is developed to account for the rigid body modes. Additional filters are added to compensate for the system’s flexible modes. Sinusoidal trajectories are autonomously generated to feed the controller. Benchmark feedforward whiplash compensation is additionally implemented for comparison. The method without random errors with the smallest error is the sinusoidal trajectory method, which showed a 97.39% improvement when compared to the baseline response when step trajectories were commanded, while the sinusoidal method was inferior to traditional step trajectories when sensor noise and random errors were present.

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Intelligent Neural Integral Sliding-mode Controller for a space robotic manipulator mounted on a free-floating satellite

Lavín-Delgado¹,

Chávez-Vázquez

Gómez‐Aguilar

et al. 2023

Advances in Space Research

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Control of rotation-floating space robots with flexible appendages for on-orbit servicing

Cited by 4 publications

References 14 publications

Dynamics and robust control of a space manipulator with flexible appendages for on-orbit servicing

Dynamics and robust control of a space manipulator with flexible appendages for on-orbit servicing

Space Robot Sensor Noise Amelioration Using Trajectory Shaping

Intelligent Neural Integral Sliding-mode Controller for a space robotic manipulator mounted on a free-floating satellite

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