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A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target

Mishra, Hrishik and De Stefano, Marco and Giordano, Alessandro and Lampariello, Roberto and Ott, Christian (2020) A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target. In: 2020 American Control Conference, ACC 2020, pp. 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.

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Official URL: https://ieeexplore.ieee.org/document/9147294


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.

Item URL in elib:https://elib.dlr.de/194758/
Document Type:Conference or Workshop Item (Speech)
Title:A Geometric Controller for Fully-Actuated Robotic Capture of a Tumbling Target
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, AlessandroUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Lampariello, RobertoUNSPECIFIEDhttps://orcid.org/0000-0002-8479-2900UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:27 July 2020
Journal or Publication Title:2020 American Control Conference, ACC 2020
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 2150-2157
Keywords:Motion Control, Robotics
Event Title:2020 American Control Conference (ACC)
Event Location:Denver, CO, USA
Event Type:international Conference
Event Start Date:1 July 2020
Event End Date:3 July 2020
Organizer:Institute of Electrical and Electronics Engineers (IEEE)
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)
Deposited By: Mishra, Hrishik
Deposited On:19 Apr 2023 20:47
Last Modified:24 Apr 2024 20:55

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