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- W4205716702 abstract "On-orbit operations are facing a growing need for autonomous robotic systems to achieve risky and repetitive tasks. Debris removal, on-orbit servicing and in-space deployment/assembly are examples of applications considering the use of robot manipulators. The presence of large and light appendages in future spacecrafts, such as solar arrays, antennas and sun shields yields to flexible disturbances inside the structure making the control of the manipulator challenging. This paper addresses design and control problems related to autonomous space manipulator system when using kinetic moment exchange devices in presence of systems disturbances and model uncertainties. A common control of the manipulator and the base spacecraft is introduced for a free-floating space manipulator. An Extended State Observer (ESO) is developed to obtain the Nonlinear Dynamic Inversion (NDI) and improve manipulator control performances. A simultaneous synthesis of a control law gain and observer gain is proposed with a Linear Matrix Inequalities (LMI) resolution to tackle system variations and uncertainties. Illustration of the proposed method’s efficiency and feasibility is obtained with simulations run on an actual space telescope assembly." @default.
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- W4205716702 date "2021-01-01" @default.
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- W4205716702 title "Robust control of rotation-floating space robots with flexible appendages for on-orbit servicing" @default.
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- W4205716702 doi "https://doi.org/10.1016/j.ifacol.2021.11.165" @default.
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