Robust Adaptive Coordination Controller for a Spacecraft Equipped with a Robotic Manipulator

Jayakody, Hiranya; Shi, Lingling; Katupitiya, Jayantha; Kinkaid, Nathan

doi:10.2514/1.g002145

Cited by 46 publications

(23 citation statements)

References 40 publications

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“…The authors of [76] proposed an adaptive sliding mode disturbance observer to estimate the disturbance created by the unknown target in order to compensate for it while tracking a desired joint space trajectory and regulating the servicer's base attitude. In [29], an adaptive variable structure control method was applied to implement a robust coordination controller between the servicer's satellite base and manipulator that addressed parametric uncertainties in the servicer's system. In [29,76], the authors do not consider the detumbling problem in the post-grasping phase.…”

Section: Research Focus and Contributionsmentioning

confidence: 99%

“…In [29], an adaptive variable structure control method was applied to implement a robust coordination controller between the servicer's satellite base and manipulator that addressed parametric uncertainties in the servicer's system. In [29,76], the authors do not consider the detumbling problem in the post-grasping phase. However, the approach can be utilized to compensate for parametric uncertainties associated with an unknown target attached to the servicer's end-effector while attempting to track a desired detumbling trajectory.…”

Section: Research Focus and Contributionsmentioning

confidence: 99%

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Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Gangapersaud¹

2021

Preprint

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This study addresses the problem of detumbling a non-cooperative space target, such as a malfunctioning satellite, using a space robot for the purpose of performing on-orbit servicing. The space robot is denoted as the servicer and consists of a satellite base equipped with a robotic manipulator. The formulation of a detumbling control strategy must respect limits on the grasping force and torque at the servicer’s end-effector without knowledge of the target’s inertial parameters (mass, inertia tensor, location of center of mass). In the literature, prior studies have formulated detumbling strategies under the assumption of accurate knowledge of the target’s inertial parameters. However, obtaining accurate estimates of the target’s inertial parameters is difficult, and parameter uncertainty may lead to instability and violation of the end-effector force/torque limits. This study will address the problem of detumbling a noncooperative target with unknown but bounded inertial parameters subjected to force/torque limits at the servicer’s end-effector. In this study, two detumbling control strategies are presented. The first detumbling strategy is presented under the assumption that force/torque measurements at the end-effector are available. Detumbling of the target is achieved by applying a reference force/torque to the target that is designed to bring the target’s tumbling motion to rest subjected to force/torque limits. To ensure stable detumbling of the target, a robust compensator is designed based on bounds of the target’s unknown inertial parameters. Furthermore, once the detumbling process starts, in order to reduce the robust control gains, bounds on the target’s unknown inertial parameters are estimated in real-time. The resultant detumbling controller enables the servicer to detumble the target while complying with the target’s unknown residual tumbling motion. The second detumbling control strategy is developed without the need of end-effector’s force/torque measurements and takes into account magnitude constraints on servicer’s control inputs in the detumbling controller’s design. Detumbling is achieved by tracking a desired detumbling trajectory that is delineated subjected to end-effector force/torque limits and requires bounds on the target’s inertial parameters. The hyperbolic tangent function is utilized to model the magnitude constraints on the servicer’s control inputs, resulting in a system that is non-affine in its control inputs. As a result, an augmented model of the servicer is presented to allow the formulation of the detumbling controller. Using bounds on the target’s inertial parameters, robust adaptive control approach is utilized to design the detumbling controller with the backstepping technique in order to track the desired detumbling trajectory and to reject the gained target’s momentum. Numerical simulation studies were conducted for both detumbling control strategies utilizing a servicer equipped with a 7-degree-of-freedom (DOF) manipulator. The results demonstrate that both control strategies are capable of detumbling a non-cooperative target with unknown inertial parameters subjected to force/torque limits. Experiments conducted with a 3-DOF manipulator demonstrate that the design procedure utilized to delineate the desired detumbling trajectory in the second detumbling strategy respects force/torque limits at the end effector. The study is concluded with a discussion comparing the two proposed detumbling strategies by highlighting their advantages and disadvantages.

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Section: Research Focus and Contributionsmentioning

confidence: 99%

Section: Research Focus and Contributionsmentioning

confidence: 99%

Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Gangapersaud¹

2021

Preprint

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“…In this study, the role of reaction wheels is considered. Thus, the angular momentum of the considered system can be formulated as 7 where L0 is the initial angular momentum of the entire system and the L0 remains constant under the conservation of momentum. In this case, we assume that the initial angular momentum is zero (L0=0∈ℝ3).…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

“…The coordinated attitude control scheme 4 has been demonstrated in the project Engineering Test Satellite VII (ETS-VII). 5 Variety of control techniques have been developed for space robot coordinated control systems, including variable structure control methods, [6][7][8][9] adaptive control approaches, [10][11][12][13] optimal control strategies, [14][15][16][17] neural network, 18,19 and extended state observer. 20 It should be pointed out that the manipulator motion 10,14 yields no platform attitude disturbance, which is based on the reaction null space (RNS).…”

Section: Introductionmentioning

confidence: 99%

“…28,31,40 On the other hand, the space robot model shows obvious multivariable characteristic. In many situations, the multi-input multi-output (MIMO) systems have been separated into multiunivariate systems, and the developed theories 7,19 have been used. Instead, a multivariable STA sliding mode approach has been developed, 29,30 which can obtain more elegant solutions and more attractive characteristics than the univariate one.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

Wei

Yuan

Wang

2018

Proceedings of the Institution of Mechanical Engineers, Part G:

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There often exist strong coupled characteristics between the space robot platform and the manipulators. The neglect of the coupled factors may induce undesired control performance or even lead to system crash. In this paper, a novel robust adaptive coordinated control scheme is developed for a space robot with coupled uncertainties and external disturbances. By proposing a multivariable generalized super-twisting algorithm, the bounded disturbances together with uncertainties could be compensated. An adaptation tuning approach is developed to deal with the unknown bounds. Meanwhile, the sliding mode disturbance observer is introduced to alleviate the system conservatism and improve convergence rate and accuracy. As a result, the accurate state tracking is achieved in finite time. A proof of the finite-time convergence is derived using the Lyapunov theory. Simulations are carried out on a space robot with a three-degrees-of-freedom manipulator to demonstrate the effectiveness and robustness of the proposed method.

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Adaptive robust decoupling control of multi-arm space robots using time-delay estimation technique

et al. 2020

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Robust Adaptive Coordination Controller for a Spacecraft Equipped with a Robotic Manipulator

Cited by 46 publications

References 40 publications

Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Detumbling a Non-Cooperative Space Target With Unknown Inertial Parameters Using a Space Manipulator Subjected to End-Effector Force/Torque Limits

Adaptive multivariable generalized super-twisting algorithm based robust coordinated control for a space robot subjected to coupled uncertainties

Adaptive robust decoupling control of multi-arm space robots using time-delay estimation technique

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