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Output Feedback Stabilization of an Orbital Robot

Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro Massimo and Ott, Christian (2021) Output Feedback Stabilization of an Orbital Robot. In: 59th IEEE Conference on Decision and Control, CDC 2020. IEEE. 2020 59th IEEE Conference on Decision and Control (CDC), 14-18 Dec 2020, Jeju, Korea (South). doi: 10.1109/CDC42340.2020.9304044. ISBN 978-172817447-1. ISSN 0743-1546.

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Official URL: https://ieeexplore.ieee.org/document/9304044


In this paper, we propose a novel controller to stabilize the shape (joints) of an orbital robot about a setpoint, i.e. a regulation task, in the specific setting that its spacecraft velocity is unmeasured. For this output feedback stabilization problem, the controller is presented as a synthesis of an observer for the spacecraft's motion states and a shape control law. To this end, we exploit the inertia-decoupled reduced Euler-Lagrange equations. The main advantage of this approach is that the block-diagonal inertia avoids the need for joint acceleration measurements, and the well-partitioned Cori- olis/Centrifugal matrix highlights useful properties, which aid in the stability analysis. Additionally, the proposed controller uses only a minimal set of measurements in form of shape state-space, i.e. positions and velocities, and the exteroceptive pose (attitude and position) of the spacecraft. Thus, the need for inertial sensors (velocity measurements) on the spacecraft is also avoided. For the error dynamics of the resulting system, we prove uniform almost global asymptotic stability. Furthermore, we validate the analysis and prove the effectiveness of the method though simulations.

Item URL in elib:https://elib.dlr.de/192902/
Document Type:Conference or Workshop Item (Speech)
Title:Output Feedback Stabilization of an Orbital Robot
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Mishra, HrishikUNSPECIFIEDhttps://orcid.org/0000-0002-5025-2447UNSPECIFIED
De Stefano, MarcoUNSPECIFIEDhttps://orcid.org/0000-0003-3777-9487UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:11 January 2021
Journal or Publication Title:59th IEEE Conference on Decision and Control, CDC 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:robots, space vehicles
Event Title:2020 59th IEEE Conference on Decision and Control (CDC)
Event Location:Jeju, Korea (South)
Event Type:international Conference
Event Dates:14-18 Dec 2020
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - On-Orbit Servicing [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Strobl, Dr. Klaus H.
Deposited On:23 Dec 2022 11:25
Last Modified:23 Dec 2022 11:25

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