Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
A Robust Post-Grasping Control Design for Robotic Testbed Demonstration of Space Debris Disposal
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0002-1883-7912
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-3557-6782
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-1437-1809
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.ORCID iD: 0000-0003-0126-1897
2022 (English)In: 13th IFAC Symposium on Robot Control SYROCO 2022: Proceedings / [ed] Rincon-Ardilla, L., Elsevier , 2022, no 38, p. 198-203Conference paper, Published paper (Refereed)
Abstract [en]

In this article, a ground-based floating platform setup that emulates the zero-gravity spacecraft's motion on the ground is utilized for an active debris removal mission scenario. There are various phases in an active debris removal mission, which could be listed as close-range rendezvous, attitude coordination in case of tumbling target, grasping of the debris spacecraft, and the post grasping (debris removal phase). This article focuses on the post-grasping phase of the debris removal mission, with the assumption that the floating platform has grabbed (grasped) a debris of unknown mass and mass distribution, which adds to the modeling uncertainty of the newly unified platform (floating platform+debris). In sequel of the debris grasping, the floating platform needs to follow the desired path to move the debris to a desired secure location. This post-grasping scenario introduces multiple challenges rising from various parametric uncertainties in the robot's dynamics rising from nonlinearities, inaccuracy in estimating its inertia, discretization of thruster inputs using PWMs, and external disturbances. Also, since the robot maneuvers and operates in eminently constrained environments, the controller must ensure impeccable accuracy. The state-of-the-art controllers ensuring a constrained control of space robots with parametric uncertainties use a strict barrier Lyapunov function (BLF), which demands the initial conditions of the states to be within a specified bound, which is impractical in many scenarios. Hence, we propose a robust time-varying BLF controller for space robots, which tackles uncertainties and external disturbances while avoiding strict initial conditions for the constrained states. The controller's stability is validated using a Lyapunov-like method, and its performance is verified using a simulated Slider model.

Place, publisher, year, edition, pages
Elsevier , 2022. no 38, p. 198-203
Series
IFAC-PapersOnLine, ISSN 2405-8963 ; 55(38)
Keywords [en]
Space robots, nonlinear control, barrier control, barrier Lyapunov function, euler Lagrangian system
National Category
Robotics and automation
Research subject
Robotics and Artificial Intelligence
Identifiers
URN: urn:nbn:se:ltu:diva-95781DOI: 10.1016/j.ifacol.2023.01.155ISI: 000925715900031Scopus ID: 2-s2.0-85161629442OAI: oai:DiVA.org:ltu-95781DiVA, id: diva2:1740922
Conference
13th IFAC Symposium on Robot Control SYROCO 2022, Online, October 17-22, 2022
Funder
EU, Horizon 2020, 953454, AERO-TRAINAvailable from: 2023-03-02 Created: 2023-03-02 Last updated: 2025-02-09Bibliographically approved
In thesis
1. Adaptive control for robots to handle uncertainties, delays and state constraints
Open this publication in new window or tab >>Adaptive control for robots to handle uncertainties, delays and state constraints
2023 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The stability and safety of robotic systems are heavily impacted by delays and parametric uncertainties due to external disturbances, modeling inaccuracies, reaction forces, and variations in dynamics. This work addresses the effects of parametric uncertainties in the application of payload transportation by robotic systems that involve time delays and state constraints. The problem is split into two research questions: control of a quadrotor UAV in the presence of delays and control of robotic systems with state constraints.

The first two papers explore the approaches for remotely operated quadrotors in the presence of delays and uncertainties. Specifically, the first paper surveys the existing methods for controlling a payload-carrying UAV and further presents a class of control techniques in theory that focus on time-delayed systems. The second paper proposes an adaptive control solution for the tracking control of a quadrotor UAV to transport various unknown payloads in the presence of unknown time-varying delays. The proposed controller is robust to modeling uncertainties and does not require knowledge of the uncertainties' bounds. The performance of the controller is verified on a MATLAB-SIMULINK simulated environment.

The final three papers deal with enforcing state constraints on tracking control to ensure the safety of the robots in the presence of parametric uncertainties. The third paper exploits state constraints in the post-grasping scenario of the space debris disposal application. This work proposes a robust control for a space robot to follow the desired trajectory without any violation to safely grasp, carry, and release unknown payloads in their respective regions. The controller is tested in a MATLAB-SIMULINK environment with the dynamics of a planar space robot. The fourth paper introduces an adaptive control technique without any a priori knowledge of the system dynamics or the bounds of uncertainties to impose state constraints in control. The proposed controller is designed for a generic Euler-Lagrangian system in the presence of parametric uncertainties, where the state-dependent nature of the uncertainties introduces unboundedness in the overall uncertainty. The controller is validated in simulation using a robotic manipulator in a pick-and-place operation. The final paper proposes an adaptive controller for the tracking control of an experimental planar space robot. The proposed controller enforces constraints on the robot's states and their derivatives on the tracking control for transporting different payloads without any knowledge of the dynamics of the robot or the bounds of the uncertainties. The controller is validated on the experimental space robot.

The stability of the proposed controllers is studied analytically using the Lyapunov theory. The results are presented with various plots and numerically analyzed on the metrics of root mean squared errors and peak errors.

Place, publisher, year, edition, pages
Luleå: Luleå University of Technology, 2023
Series
Licentiate thesis / Luleå University of Technology, ISSN 1402-1757
Keywords
adaptive control, barrier funciton, nonlinear control
National Category
Robotics and automation
Research subject
Robotics and Artificial Intelligence
Identifiers
urn:nbn:se:ltu:diva-101993 (URN)978-91-8048-424-4 (ISBN)978-91-8048-425-1 (ISBN)
Presentation
2023-12-01, A1545, Luleå University of Technology, Sweden, Luleå, 09:00 (English)
Opponent
Supervisors
Available from: 2023-11-01 Created: 2023-10-31 Last updated: 2025-02-09Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records

Sankaranarayanan, Viswa NarayananBanerjee, AvijitSatpute, SumeetNikolakopoulos, George

Search in DiVA

By author/editor
Sankaranarayanan, Viswa NarayananBanerjee, AvijitSatpute, SumeetNikolakopoulos, George
By organisation
Signals and Systems
Robotics and automation

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 150 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf