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• W3131032698 abstract "This paper addresses the unexpected contact handling problem for a free-flying orbital robot. A nonlinear observer is developed to detect, isolate, and estimate a collision. Then, a reaction control strategy is proposed, which aims at avoiding the buildup of the contact force and possible instabilities. It is proved that the controlled system is input-to-state stable. The performance of the observer and the controller is assessed through a numerical example featuring a 7-degree-of-freedom arm mounted on a spacecraft and a realistic measurement model. The spacecraft is equipped with thrusters and variable-speed control moment gyros." @default.
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• W3131032698 date "2021-05-01" @default.
• W3131032698 modified "2023-10-16" @default.
• W3131032698 title "Unexpected Collision Detection, Estimation, and Reaction for a Free-Flying Orbital Robot" @default.
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• W3131032698 doi "https://doi.org/10.2514/1.g005585" @default.
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