Predictive motion control for autonomous capture of a tumbling target with a space manipulator |
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| Institution: | 1. Department of Automation, Chongqing University, Chongqing, 400044, China;2. Department of Automation, Tsinghua University, Beijing, 100084, China;1. Chongqing Key Laboratory of Complex Systems and Bionic Control, Chongqing University of Posts and Telecommunications, Chongqing, China;2. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China;3. Department of Aeronautical and Automotive Engineering, Loughborough University, Loughborough LE11 3TU, U.K.;1. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150001, People''s Republic of China;2. School of Automation, Northwestern Polytechnical University, Xi’an 710129, People''s Republic of China;3. Research Institute of Intelligent Control and Systems, School of Astronautics, Harbin Institute of Technology, Harbin 150001, People’s Republic of China;4. Department of Mechanical Engineering University of California, Berkeley, Berkeley CA 94720, USA;1. School of Automobile, Chang''an University, Xi''an, 710064, China;2. Lyles School of Civil Engineering, Purdue University, West Lafayette, IN, 47907, USA;1. School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;2. Department of Systems and Computer Engineering, Carleton University, Ottawa, ON K1S 5B6, Canada;3. College of Mathematical Sciences, Bohai University, Jinzhou 121000, China;1. School of Artificial Intelligence, Shenyang University of Technology, Shenyang, Liaoning, 110870, China;2. School of Automation, Nanjing University of Science and Technology, Nanjing, Jiangsu, 210094, China |
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| Abstract: | In this study, an autonomous capture framework was proposed for a tumbling target satellite with a space manipulator. First, the motion model of a tumbling target was constructed and the motion properties were analyzed. Subsequently, a predictive motion control method was introduced to compensate for the time delay owing to image processing and to predict the tumbling motion of the target. Stability analysis was conducted using a Lyapunov function. To address the problem of large position and attitude deviations of the tumbling target, different autonomous capture strategies, that is, non-fixed-point position-based capture and area-based capture, were proposed to capture different parts of the target, such as the docking ring and side surfaces, which are important for practical applications. The capture conditions were created and compared, where the non-fixed-point position capture strategy and area-based capture strategy had a larger pose tolerance than the traditional fixed-point position methods. Finally, the framework was tested using Adams/Simulink co-simulations. The results validated the autonomous capture process and proposed alternatives for practical applications. |
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