文章基本信息

标题：Robust control of rotation-floating space robots with flexible appendages for on-orbit servicing
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作者：Sofiane Kraïem ; Mathieu Rognant ; Jean-Marc Biannic 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2021
卷号：54
期号：20
页码：134-140
DOI：10.1016/j.ifacol.2021.11.165
语种：English
出版社：Elsevier
摘要：AbstractOn-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.
关键词：KeywordsSpace manipulatorExtended State ObserverNonlinear Dynamic InversionDisturbance Compensation