Mishra, Hrishik und De Stefano, Marco und Giordano, Alessandro und Lampariello, Roberto und Ott, Christian (2020) A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target. In: 2020 American Control Conference, ACC 2020, Seiten 2150-2157. IEEE. 2020 American Control Conference (ACC), 2020-07-01 - 2020-07-03, Denver, CO, USA. doi: 10.23919/ACC45564.2020.9147294. ISBN 978-153868266-1. ISSN 0743-1619.
Dieses Archiv kann nicht den Volltext zur Verfügung stellen.
Offizielle URL: https://ieeexplore.ieee.org/document/9147294
Kurzfassung
In this paper, we investigate the task of approaching a rigid tumbling satellite (Target) with a fully-actuated manipulator-equipped spacecraft (Servicer). We consider a Servicer with an end-effector-mounted exteroceptive sensor for feedback of Target motion. This sensor, however, provides only a noisy relative pose (position and orientation) of the tumbling Target's grasping frame. For this time-varying scenario, we propose a novel method, which is a cascade interconnection of a geometric Extended Kalman Filter (EKF) observer and a geometric controller. The key idea is to estimate the unforced Target's full state-space with the proposed EKF, and then use these estimates in feed-forward and feedback terms of the control law, while exploiting the fully-actuated Servicer. This results in a cascade interconnection, for which we prove the Local Asymptotic Stability (LAS) property. Furthermore, the effectiveness of the proposed method for the approach task is demonstrated through simulation.
elib-URL des Eintrags: | https://elib.dlr.de/194758/ | ||||||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||||||||||||||
Titel: | A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target | ||||||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||||||
Datum: | 27 Juli 2020 | ||||||||||||||||||||||||
Erschienen in: | 2020 American Control Conference, ACC 2020 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Nein | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
DOI: | 10.23919/ACC45564.2020.9147294 | ||||||||||||||||||||||||
Seitenbereich: | Seiten 2150-2157 | ||||||||||||||||||||||||
Verlag: | IEEE | ||||||||||||||||||||||||
ISSN: | 0743-1619 | ||||||||||||||||||||||||
ISBN: | 978-153868266-1 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Motion Control, Robotics | ||||||||||||||||||||||||
Veranstaltungstitel: | 2020 American Control Conference (ACC) | ||||||||||||||||||||||||
Veranstaltungsort: | Denver, CO, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 1 Juli 2020 | ||||||||||||||||||||||||
Veranstaltungsende: | 3 Juli 2020 | ||||||||||||||||||||||||
Veranstalter : | Institute of Electrical and Electronics Engineers (IEEE) | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [RO] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Mishra, Hrishik | ||||||||||||||||||||||||
Hinterlegt am: | 19 Apr 2023 20:47 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:55 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags