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Combined control for active debris removal using a satellite equipped with a robot arm

Reiner, Matthias and Fernandez, Jesus G. and Ortega, Guillermo (2017) Combined control for active debris removal using a satellite equipped with a robot arm. In: Proceedings for the GNC 2017, 10th International ESA Conferece on Guidance, Navigation and Control Systems. 10th International ESA Conference on Guidance, Navigation & Control, 29. Mai - 02. Juni 2017, Salzburg, Österreich.

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Abstract

This work discusses the controller design and simulation for Active Debris Removal (ADR) based on the e.Deorbit scenario using a chaser satellite with a seven axis robot arm to capture and deorbit the inactive ENVISAT satellite, which endangers other satellites in its orbit. The relative high angular velocity and high mass of the target satellite leads to a challenging control problem for the chaser satellite and its robot arm. To achieve accurate and robust performance for the ADR a combined controller is designed using a multi-stage and multi-objective design and optimization procedure. The combined controller is able to control all degrees of freedom of the chaser satellite and robot arm simultaneously. To verify this control approach, high fidelity models of the scenario were developed and used within an advanced GNC simulation tool. Important aspects such as detailed thruster models, flexibility of the targets solar panel and robot arm were considered in addition to fuel sloshing and other orbital disturbance forces. Simulation results show that the developed combined controller is able to achieve good precision and robustness for important phases of the ADR scenario.

Item URL in elib:https://elib.dlr.de/115866/
Document Type:Conference or Workshop Item (Speech)
Title:Combined control for active debris removal using a satellite equipped with a robot arm
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Reiner, MatthiasMatthias.Reiner (at) dlr.deUNSPECIFIED
Fernandez, Jesus G.ESAUNSPECIFIED
Ortega, GuillermoESAUNSPECIFIED
Date:2017
Journal or Publication Title:Proceedings for the GNC 2017, 10th International ESA Conferece on Guidance, Navigation and Control Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Combined control, Nonlinear simulation, optimization, robot, satellite
Event Title:10th International ESA Conference on Guidance, Navigation & Control
Event Location:Salzburg, Österreich
Event Type:international Conference
Event Dates:29. Mai - 02. Juni 2017
Organizer:ESA
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben RobGNC
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control
Deposited By: Reiner, Matthias
Deposited On:05 Dec 2017 13:57
Last Modified:05 Dec 2017 13:57

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