Analysis of Hardware-in-the-Loop setup without artificial compliance for docking contact dynamics of satellites

Bondoky, Karim; Janschek, Klaus; Rathke, Andreas; Schwarz, Sebastian

doi:10.2514/6.2017-5183

Cited by 5 publications

(5 citation statements)

References 7 publications

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“…The following models accounted for the energy dissipation by adding a velocity dependent damping term 18,19 . Bondoky et al (2017) 20 analyzed different contact dynamic models on an HIL testbed, and showed that the coefficient of restitution is the most influencing parameter for contact dynamics modeling. A linear spring-dashpot contact model is known for its relative simplicity and ease of analysis of dynamic systems in contact 17 .…”

Section: The Interaction Of Two Bodies In Contact Is Central To Thementioning

confidence: 99%

“…wherel is the unit vector along the probe length written in the Chaser coordinate frame. Let a denotes the ratio of the length of PQ and the length of the probe at equilibrium, therefore Using equation (20), the shift in the position of point P with respect to the Chaser, that is vector P o P, can be written as…”

Section: Compliance Devicementioning

confidence: 99%

“…To overcome the problem, time-delay compensation for one-dimensional HIL simulations has been addressed in several ways in the literature. 20,[22][23][24][25] The present work, however, addresses this problem by determining stability regions of the compliance parameters for the contact of two bodies moving in three dimensions.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Sazawal

Choukroun

Benninghoff

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device-based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.

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Section: The Interaction Of Two Bodies In Contact Is Central To Thementioning

confidence: 99%

Section: Compliance Devicementioning

confidence: 99%

See 1 more Smart Citation

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Sazawal

Choukroun

Benninghoff

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part G:

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“…Thus, choosing the parameters of the fuzzy controller depends on the experience and the common sense of the designer to overcome the inaccuracy of the mathematical model (Burns, 2001). The computations of fuzzy control were calculated as hardware-in-the-loop (HIL) (Bondoky et al, 2017). This means that sensors sent data to the ground station using wireless communications.…”

Section: Fuzzy Controlmentioning

confidence: 99%

System identification, fuzzy control and simulation of a kite power system with fixed tether length

Dief

Fechner²,

Schmehl

et al. 2018

Wind Energ. Sci.

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Abstract. In wind energy research, airborne wind energy systems are one of the promising energy sources in the near future. They can extract more energy from high altitude wind currents compared to conventional wind turbines. This can be achieved with the aid of aerodynamic lift generated by a wing tethered to the ground. Significant savings in investment costs and overall system mass would be obtained since no tower is required. To solve the problems of wind speed uncertainty and kite deflections throughout the flight, system identification is required. Consequently, the kite governing equations can be accurately described. In this work, a simple model was presented for a tether with a fixed length and compared to another model for parameter estimation. In addition, for the purpose of stabilizing the system, fuzzy control was also applied. The design of the controller was based on the concept of Mamdani. Due to its robustness, fuzzy control can cover a wider range of different wind conditions compared to the classical controller. Finally, system identification was compared to the simple model at various wind speeds, which helps to tune the fuzzy control parameters.

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“…The relative motion between two spacecraft involves the change of attitude and orbit, which belongs to 6-DOF space motion. It has two different description methods: one is called vector algebra method, and the models of Bondoky K [ 2] and Daniel Alazard [5] are based on this method. The other is called geometric mechanics method, also known as screw theory.…”

Section: Introductionmentioning

confidence: 99%

Multi-observer approach for robust tracking control of flexible spacecraft on SE(3)

Cao

Jia

et al. 2022

Preprint

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Robust control of attitude-orbit tracking system for flexible spacecraft is addressed using state and nonlinear disturbance observer-based control technique. A relative attitude-orbit-structure integrated dynamics model is derived for flexible spacecraft tracking maneuver, where environmental disturbances and parameter uncertainty are considered as lumped disturbance term. The relative position and attitude of the two spacecraft are described by the exponential coordinates on SE(3). A composite control technique is proposed for robust attitudeorbit tracking of a flexible spacecraft about a spacecraft under lumped disturbance by combining a state observer of modal parameter and nonlinear disturbance observer with an asymptotic tracking control. The vibration mode information and the lumped disturbance are estimated and compensated by the modal observer and the nonlinear disturbance observer respectively in the feedback link. Moreover, the stability of the composed control approach consisting of the asymptotic tracking control and multi-observer observer is guaranteed through Lyapunov method. The simulation results validate the composite control technique can effectively enhance disturbance attenuation ability, robust dynamics performance and the desired relative attitude tracking accuracy of a flexible spacecraft with multiple disturbances and parameter uncertainty.Mathematics Subject Classification (2020) MSC 05E15 · 15A30

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Analysis of Hardware-in-the-Loop setup without artificial compliance for docking contact dynamics of satellites

Cited by 5 publications

References 7 publications

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

System identification, fuzzy control and simulation of a kite power system with fixed tether length

Multi-observer approach for robust tracking control of flexible spacecraft on SE(3)

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