Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

Xu, Yiqi

doi:10.1177/0142331220973132

“…In-orbit missions are being scaled up to meet the growing scientific demands of the space community. The candidate inorbit missions include servicing, assembly, manufacturing, repairs, recycling, and Active Debris Removal (ADR) [1][2][3][4][5][6][7][8][9][10][11][12]. Amongst in-orbit assembly missions, the assembly of Space-based Solar Power (SBSP) generation, Active Debris Removal (ADR), and large aperture space telescopes for astronomy and earth observation are gaining momentum [13][14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Controlling a Dexterous Walking Space Manipulator for In-Orbit Missions

Nair

2024

OJRAT

0

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Robotics, Automation and Autonomous Systems are the main pillars for large-scale futuristic in-orbit missions. The state-of-the-art semiautonomous robotic manipulators in orbit are operated from the International Space Station and have limited walking features restricting their workspace. Hence, they cannot efficiently assemble complex infrastructures in-situ, such as space telescopes and space-based solar power. To overcome the technological gaps in the conventional space manipulators, the next generation of walking space manipulator, known as the End-Over-End Walking Robot (E-Walker), is introduced. The E-Walker's inbuilt redundancy and modular design offers enhanced workspace utilization, greater agility and maneuverability both for in-space missions and other terres-trial applications. The assembly mission Concept of Operations (ConOps) dealt in this paper is the modular Large Aperture Space Telescope (LAST) and presents the modelling of a fully dexterous seven degrees-of-freedom E-Walker with its gait analysis and control. The closed-loop performance of the E-Walker is analyzed under perturbed microgravity conditions using two widely used space-proven controllers a. The Proportional-Integral-Derivative controller coupled with the Computed-Torque-Controller (PID-CTC) and b. The robust H ∞ controller. The simulation results prove E-Walker's efficacy for accomplishing multiplex in-situ assembly of a large aperture space telescope.

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“…In-orbit missions are being scaled up to meet the growing scientific demands of the space community. The candidate inorbit missions include servicing, assembly, manufacturing, repairs, recycling, and Active Debris Removal (ADR) [1][2][3][4][5][6][7][8][9][10][11][12]. Amongst in-orbit assembly missions, the assembly of Space-based Solar Power (SBSP) generation, Active Debris Removal (ADR), and large aperture space telescopes for astronomy and earth observation are gaining momentum [13][14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Untitled

2024

OJRAT

0

View full text Add to dashboard Cite

Robotics, Automation and Autonomous Systems are the main pillars for large-scale futuristic in-orbit missions. The state-of-the-art semiautonomous robotic manipulators in orbit are operated from the International Space Station and have limited walking features restricting their workspace. Hence, they cannot efficiently assemble complex infrastructures in-situ, such as space telescopes and space-based solar power. To overcome the technological gaps in the conventional space manipulators, the next generation of walking space manipulator, known as the End-Over-End Walking Robot (E-Walker), is introduced. The E-Walker's inbuilt redundancy and modular design offers enhanced workspace utilization, greater agility and maneuverability both for in-space missions and other terres-trial applications. The assembly mission Concept of Operations (ConOps) dealt in this paper is the modular Large Aperture Space Telescope (LAST) and presents the modelling of a fully dexterous seven degrees-of-freedom E-Walker with its gait analysis and control. The closed-loop performance of the E-Walker is analyzed under perturbed microgravity conditions using two widely used space-proven controllers a. The Proportional-Integral-Derivative controller coupled with the Computed-Torque-Controller (PID-CTC) and b. The robust H ∞ controller. The simulation results prove E-Walker's efficacy for accomplishing multiplex in-situ assembly of a large aperture space telescope.

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“…Spacecraft is widely applied in some space missions (Flores-Abad et al, 2014; Obukhov et al, 2022; Waswa et al, 2013; Wilde et al, 2014; Xu, 2021). It is not only a highly coupled nonlinear system but also suffers from uncertainties and time-varying external disturbances (Zheng and Song, 2014; Xie et al, 2021).…”

Section: Introductionmentioning

confidence: 99%

Immersion and invariance sliding mode control with time-delay estimation for rigid spacecraft with uncertainties and actuator faults

Jing

¹

,

Du

²

,

Liu

³

et al. 2023

Transactions of the Institute of Measurement and Control

1

0

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This paper investigates the attitude control of rigid spacecraft with uncertainties and actuator faults. An immersion and invariance sliding mode control with time-delay estimation (IISMCTDE) is proposed to cope with uncertainties, disturbances, and actuator faults. First, time-delay estimation is utilized to reconstruct the total disturbances including uncertainties, disturbances, and actuator faults. Then, based on the time-delay estimation, an immersion and invariance sliding mode control (IISMC) scheme is developed to achieve accurate attitude tracking from the reconstructed knowledge. The proposed IISMCTDE can not only achieve finite-time convergence but also be simple and easy to operate. Simulations are provided to demonstrate the effectiveness of the proposed approach.

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Adaptive attitude-tracking control of spacecraft considering on-orbit refuelling

Cited by 4 publications

References 26 publications

Modelling and Controlling a Dexterous Walking Space Manipulator for In-Orbit Missions

Modelling and Controlling a Dexterous Walking Space Manipulator for In-Orbit Missions

Untitled

Immersion and invariance sliding mode control with time-delay estimation for rigid spacecraft with uncertainties and actuator faults

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