Coordinated stabilization of tumbling targets using tethered space manipulators

This article presents a decentralized framework of active fault tolerant control for attitude synchronization in satellite formation flying. By employing a nonlinear observer and a static approximator, the fault in both the angular velocity and orientation sensors can be diagnosed whether the sensor belongs to the satellite or its neighbors. The convergence of the observer is guaranteed by utilizing Lyapunov's direct method and Barbalat's lemma. The proposed approach is based on unknown input and requires only the angular velocity and orientation of the states in a decentralized architecture. Moreover, by designing a sensor fault tolerant controller, the tracking synchronization among the satellites' attitudes with individual set-points is guaranteed and the uniformly ultimate boundedness of the synchronization/tracking errors is provided. The simulation results are presented to illustrate the performance of the developed algorithm. K E Y W O R D S attitude synchronization tracking control, nonlinear observer, satellite formation flying, sensor fault tolerance 1 INTRODUCTION Satellite formation flying (SFF) missions have been increasingly attracted in the last two decades as a promising technology in aerospace fields. 1 Its advantages include maintenance enhancement and redundancy capability. In addition, by employing SFF a large payload in a massive satellite could be replaced with multidivided microsatellites. These payloads involve with interferometry, synthetic aperture radar missions. 2 To perform these missions, some technical requirements such as attitude synchronization should b e guaranteed. 3 A main challenge to synchronize attitude in SFF is designing a reliable control system to perform attitude maneuvers among multiple satellites. Obviously, decentralized attitude control approach is a fundamental step to enhance the decision-making ability for each agent thus improving the whole reliability system. 4 In addition, it avoids any redesign process and guarantees the system stability when new system/agent is added/subtracted. 5 Additional decentralized approaches for attitude synchronization are addressed in References 6,7. However, they utilize relative angular velocity communication among satellites to design the control signal. In order to improve the SFF reliability in attitude synchronization, fault diagnosis approaches are usually employed to detect, isolate, and identify the faults. There are plenty of fault diagnosis and tolerant control approaches for single or centralized multiagent systems in the literature. However, in a decentralized control strategy, the component Abbreviations: SFF, satellite formation flying; UUB, uniform ultimate boundedness 8340

show abstract

“…Consider q d and

ω_{d}

as desired orientation and angular velocity vectors, respectively. Therefore,

E = {[\begin{array}{cc} e_{q}^{⊤} & e_{ω}^{⊤} \end{array}]}^{⊤}

can represent the tracking error consisting orientation tracking error ( e q ) and angular rate tracking error (

e_{ω}

) which are given as follows Reference 19

\begin{array}{l} e_{q} = q ⊙ q_{d} \\ e_{ω} = ω prefix- ω_{d}, \end{array}

where ⊙ denotes the multiplication of modified Rodrigues parameters which is defined as

q ⊙ q_{d} = \frac{q_{d} false(q^{⊤} q - 1 false) - q false(q_{d}^{⊤} q_{d} - 1 false) - 2 false(q \times q_{d} false)}{1 + {‖ q_{d} ‖}^{2} {‖ q ‖}^{2} + 2 q . q_{d}} .

…”

Section: Preliminariesmentioning

confidence: 99%

Decentralized active sensor fault tolerance in attitude control of satellite formation flying

Nasrolahi

Abdollahi

Rezaee

2020

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

show abstract

“…On-orbit spacecraft is of great value. When breaking down in space, on-orbit repair, component replacement, and refueling can significantly prevent further cost of replacing a new one [1][2][3][4][5][6]. erefore, it has drawn much attention from researchers.…”

Section: Introductionmentioning

confidence: 99%

Robust Adaptive Relative Position and Attitude Control for Noncooperative Spacecraft Hovering under Coupled Uncertain Dynamics

Liu

Zhang

et al. 2019

Mathematical Problems in Engineering

View full text Add to dashboard Cite

The control of body-fixed hovering over noncooperative target, as one of the key problems of relative motion control between spacecrafts, is studied in the paper. The position of the chaser in the noncooperative target’s body coordinate system is required to remain unchanged, and the attitude of the chaser and the target must be synchronized at the same time. Initially, a six-degrees-of-freedom-coupled dynamic model of a chaser relative to a target is established, and relative attitude dynamics is described through using modified Rodrigues parameters (MRP). Considering the model uncertainty and external disturbances of the noncooperative target system, an adaptive nonsingular terminal sliding mode (NTSM) controller is designed. Adaptive tuning method is used to overcome the effects of the model uncertainty and external disturbances. The upper bounds of the model uncertainty and external disturbances are not required to be known in advance. The actual control law is continuous and chatter-free, which is obtained by integrating the discontinuous derivative control signal. Finally, these theoretical results are verified by numerical simulation.

show abstract

“…Thereinto, under-actuated gripper is one of the most popular robotic manipulator, which has a wild application in the field of space robot and industrial robot because of its better shape-adaptation [1]. In the field of space robot, some researchers focus on the tether space robot [2,3]. Huang et al [4] proposed a robust control method based on back stepping control method to deal with the stabilization problem of the tether space robot.…”

Section: Introductionmentioning

confidence: 99%

Experiment on impedance adaptation of under-actuated gripper using tactile array under unknown environment

Cui

Lai

Chu

et al. 2018

Sci. China Inf. Sci.

View full text Add to dashboard Cite

The experiment on impedance adaptation to achieve stable grasp for an under-actuated gripper grasping different unknown objects with tactile array is conducted. Under-actuated gripper has a wildly application in the field of space robot and industrial robot because of its better shape-adaptation. However it is difficult to achieve stable grasp owning to the uncertain properties of environment. A control strategy of adaptive matching the impedance parameters is proposed to achieve stable grasp. Firstly, the unknown objects are described as linear systems with unknown dynamics, and the parameters of the object are identified with the recursive least-squares (RLS) method through tactile sensor array. Then a desired impedance model is obtained by defining a cost function that includes the contact force, velocity and displacement errors, and the critical impedance parameters are found to minimize it. Finally, an experiment is presented and shows that the proposed impedance model can guarantee the stable grasp for various unknown objects.

show abstract

Coordinated stabilization of tumbling targets using tethered space manipulators

Cited by 78 publications

References 42 publications

Decentralized active sensor fault tolerance in attitude control of satellite formation flying

Decentralized active sensor fault tolerance in attitude control of satellite formation flying

Robust Adaptive Relative Position and Attitude Control for Noncooperative Spacecraft Hovering under Coupled Uncertain Dynamics

Experiment on impedance adaptation of under-actuated gripper using tactile array under unknown environment

Contact Info

Product

Resources

About