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Rendezvous and Attitude Synchronization of a Space Manipulator
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.ORCID iD: 0000-0003-2484-5502
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology. University of Toronto Institute for Aerospace Studies, North York, Canada.ORCID iD: 0000-0003-4977-6339
2019 (English)In: The Journal of the astronautical sciences, ISSN 0021-9142, Vol. 66, no 1, p. 100-120Article in journal (Refereed) Published
Abstract [en]

The control of a spacecraft equipped with a six-degree-of-freedom robot manipulator is studied in this paper. The objective is to rendezvous and synchronize with a satellite to facilitate inspection, servicing or de-orbiting. The space manipulator dynamics model with global parameterization on the configuration manifold is derived and used for designing asymptotically-stable control laws, so that they are valid globally in the configuration manifold. The control system consists of a sliding-mode rendezvous controller as well as a geometric attitude synchronization and a model-based servo control for the robot manipulator. The gains of the sliding-mode controller dictate a user-defined upper-bound on the thrust force. The attitude synchronization controller, concurrently with the rendezvous controller, is capable of micro-orbiting the space manipulator around spinning or tumbling satellites. It is observed through the simulations that the controller consumes limited amount of propellant, and it is feasible to use it for either a re-fueling (larger mass) or a de-orbiting (smaller mass) space manipulator.

Place, publisher, year, edition, pages
Springer, 2019. Vol. 66, no 1, p. 100-120
Keywords [en]
Space manipulator, Spacecraft rendezvous, Attitude synchronization, Spacecraft control
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-74973DOI: 10.1007/s40295-019-00162-7ISI: 000472234200006Scopus ID: 2-s2.0-85065742039OAI: oai:DiVA.org:ltu-74973DiVA, id: diva2:1330375
Note

Validerad;2019;Nivå 2;2019-06-25 (johcin)

Available from: 2019-06-25 Created: 2019-06-25 Last updated: 2019-08-15Bibliographically approved

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Muralidharan, VijayEmami, Reza

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  • apa
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