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Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators

De Stefano, Marco and Vezzadini, Luca and Secchi, Cristian (2019) Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators. In: 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019-11-04 - 2019-11-08, Macau, China. doi: 10.1109/iros40897.2019.8968472. ISSN 2153-0858.

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Abstract

In this work we present a novel approach which compensates the destabilising effects of the time delay intrinsic in the control loop of an admittance-controlled robot employed for satellite dynamics simulation. The method is based on an energy storing element, the tank, which is exploited by the controller to preserve the passivity of the system and to avoid instability. Furthermore, we compare the performance of the proposed method with existing energy-based approaches, namely time-domain-passivity and wave variable transformation. The performance comparison and robustness of the methods are analysed in a Montecarlo simulation and validated experimentally.

Item URL in elib:https://elib.dlr.de/130545/
Document Type:Conference or Workshop Item (Speech)
Title:Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Vezzadini, LucaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Secchi, CristianUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Date:2019
Journal or Publication Title:2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.1109/iros40897.2019.8968472
ISSN:2153-0858
Status:Published
Keywords:Stability, Hardware-in-the-loop, admittance control, space robotics
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Macau, China
Event Type:international Conference
Event Start Date:4 November 2019
Event End Date:8 November 2019
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: De Stefano, Marco
Deposited On:14 Nov 2019 09:27
Last Modified:24 Apr 2024 20:34

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