• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IFAC PapersOnLine >Robust control of rotation-floating space robots with flexible appendages for on-orbit servicing
【24h】

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

机译：具有灵活附件的旋转浮动空间机器人的鲁棒控制，用于轨道服务

获取原文
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

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.
机译：在轨道操作面临着越来越需要自治机器人系统，以实现风险和重复的任务。拆除碎片，在轨道服务和空中部署部署/组件是考虑使用机器人操纵器的应用示例。在未来的航天器（如太阳能阵列，天线和太阳屏蔽）中存在大型和光的阑尾，在结构上的结构上产生灵活的扰动，使操纵器具有挑战性。本文在存在系统干扰和模型不确定因素时使用动力学时刻交换设备时，解决了与自主空间机械手系统相关的设计和控制问题。引入了对机械手和基座航天器的共同控制，用于自由浮动空间操纵器。开发了扩展状态观察者（ESO）以获得非线性动态反转（NDI）并改善操纵器控制性能。提出了一种同时合成控制法增益和观察者增益，以线性矩阵不等式（LMI）分辨率来解决系统变化和不确定性。建议的方法的效率和可行性的说明是在实际的空间望远镜组件上运行的模拟。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号