On-orbit assembly mission planning considering topological constraint and attitude disturbance

She, Yuchen; Li, Shuang; Du, Bin; Cao, Kai

doi:10.1016/j.actaastro.2018.09.014

Cited by 19 publications

(5 citation statements)

References 16 publications

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“…Furthermore, this optimal input solution (u (w+1) [k 0 : T −1]) of SCPn (w+1) is used to generate a new nominal trajectory using Eq. (32). This new nominal, (x…”

Section: Appendixmentioning

confidence: 93%

“…One study proposes a sensing and optimal control strategy for a swarm of homogeneous spacecraft with plume impingement constraints assuming negligible orbital perturbations [36]. Assembler agents (robots which put components together) are more popular, like the antenna construction in [32], which generates target position constraints from antenna design, but neglects orbital dynamics in favor of flexible body dynamics. Assembler agent style assembly can be seen in many proposed missions, detailed further in [29], along with additive manufacturing schemes.…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Autonomous in-orbit satellite assembly from a modular heterogeneous swarm

et al. 2020

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This paper presents a decentralized, distributed guidance and control scheme to combine a heterogeneous swarm of component satellites into a large satellite structure. The component satellites for the heterogeneous swarm are chosen to promote flexibility in final shape inspired by crystal structures and Islamic tile art. After the ideal fundamental building blocks are selected, basic nanosatellite-class satellite designs are made to assist in simulations involving attitude control. The Swarm Orbital Construction Algorithm (SOCA) is a guidance and control algorithm to allow for the limited type heterogeneity and docking ability required for in-orbit assembly. The algorithm consists of two parts, a distributed auction which uses barrier functions to ensure the proper agent selection for each target, and a trajectory generation portion which leverages model predictive control and sequential convex programming to achieve optimal collision-free trajectories to the desired target point even with nonlinear system dynamics. The optimization constraints use a boundary layer to determine whether the collision avoidance or the docking constraints should be applied. The algorithm was tested in a simulated perturbed 6-DOF spacecraft dynamic environment for planar and out-of-plane final structures and on two robotic platforms, including a swarm of frictionless spacecraft simulation robots.

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“…Furthermore, this optimal input solution (u (w+1) [k 0 : T −1]) of SCPn (w+1) is used to generate a new nominal trajectory using Eq. (32). This new nominal, (x…”

Section: Appendixmentioning

confidence: 93%

Section: Related Workmentioning

confidence: 99%

Autonomous in-orbit satellite assembly from a modular heterogeneous swarm

et al. 2020

View full text Add to dashboard Cite

show abstract

“…A hybrid method of branch and bound and improved ant colony algorithm is proposed to optimize the assembly sequence. This method can obtain good assembly sequence and can suppress vibration disturbance [93].…”

Section: Vibration Suppression and Compliance Control Methodmentioning

confidence: 99%

A Survey of Space Robotic Technologies for On-Orbit Assembly

Zhong

Zhu

et al. 2022

Space Sci Technol

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The construction of large structures is one of the main development trends of the space exploration in the future, such as large space stations, large space solar power stations, and large space telescopes. It is one of important development tendency, which aims to make full use of space robots to assemble space structures autonomously in the aerospace industry. Considering that on-orbit assembly is an effective method to solve the problem of construction of large-scale spatial structures, it is necessary to motivate and facilitate the research of space robotics technologies for on-orbit assembly. Therefore, in this paper, the development status of space robot technology and the relevant space robot on-orbit assembly technology in recent decades are summarized. First, based on the space robot motion planning and assembly sequence planning, the development of space robot planning algorithms is introduced. For space robot assembly task, the space robot assembly method is summarized. From the control point of view, how to solve the vibration suppression and compliant assembly of on-orbit assembly is reviewed, which provides a reference for the autonomous intelligent assembly of space robots for large-scale structures in space. In order to simulate the space assembly scene on the ground, this paper introduces the development of ground verification experiments and provides ideas for the effective verification of space on-orbit assembly technology. In summary, though some of these problems have been satisfactorily solved in the past research, further research is still necessary in the future. Finally, it looks forward to the future research direction of space machine on-orbit assembly.

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“…Nonetheless, the expanding aperture of the telescope is greatly limited by the carrying capacity of rockets. In-orbit assembly technology, based on the concept of LSOT segmented assembly, emerges as a highly promising and effective approach for constructing future LSOTs [ 4 , 5 , 6 , 7 , 8 ].…”

Section: Introductionmentioning

confidence: 99%

Design and Dynamic Control: A Free-Flying Space Robot Inspired by Water Striders

Sai,

Xia,

et al. 2023

Biomimetics

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This work designed a free-flying space robot (FFSR) that simulates the on-orbit assembly of large space telescopes, drawing inspiration from the flexible movement of water striders on water surfaces. Initially, we developed the system structure of the robot, including the corresponding air-floating ground simulation system. This system enables floating movement of the robot in a gravity-free environment through the utilization of planar air bearings. Subsequently, we established the kinematics and dynamics models for the FFSR. Following that, we propose a novel adaptive boundary layer fuzzy sliding mode control (ABLFSMC) method to achieve trajectory tracking control of the FFSR. The virtual angle and angular velocity are formulated to serve as references for the angle and angular velocity in the body coordinate system. Furthermore, a fuzzy logic system is employed to minimize the chattering effect of the sliding mode control. The global stability of the proposed controller is guaranteed through the Lyapunov stability theory. Finally, we validate the effectiveness of the proposed control method as well as the high trajectory tracking accuracy of the developed FFSR through simulation and experimental results, respectively. Overall, our findings present a crucial experimental platform and development opportunity for the ground-based validation of technologies concerning the on-orbit assembly of large space telescopes.

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On-orbit assembly mission planning considering topological constraint and attitude disturbance

Cited by 19 publications

References 16 publications

Autonomous in-orbit satellite assembly from a modular heterogeneous swarm

Autonomous in-orbit satellite assembly from a modular heterogeneous swarm

A Survey of Space Robotic Technologies for On-Orbit Assembly

Design and Dynamic Control: A Free-Flying Space Robot Inspired by Water Striders

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