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), 04-08 November 2019, 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/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||
Title: | Time-delay Compensation Using Energy Tank for Satellite Dynamics Robotic Simulators | ||||||||||||||||
Authors: |
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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 Dates: | 04-08 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 Jul 2023 09:04 |
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