Optimal approach to and alignment with a rotating rigid body for capture

Ma, Zhanhua; Ma, Ou; Shashikanth, Banavara N.

doi:10.1007/bf03256532

Cited by 46 publications

(16 citation statements)

References 8 publications

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“…Regarding guidance techniques for proximity operations, Flores-Abad et al (2014) mentions the following works: Matsumoto et al (2003) proposed two methods for safe approach to an uncontrolled rotating spacecraft: a passive fly-by and an optimized trajectory. Ma et al (2012) optimized the approach trajectory of a chaser to a tumbling target such that the relative motion between the two is zero by minimizing the approach time and fuel. Pontryagin's Maximum Principle was used for the optimization process.…”

Section: State Of the Art Of Gnc Algorithmsmentioning

confidence: 99%

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

Janković

Paul

Kirchner

2016

Advances in Space Research

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Recent studies of the space debris population in low Earth orbit (LEO) have concluded that certain regions have already reached a critical density of objects. This will eventually lead to a cascading process called the Kessler syndrome. The time may have come to seriously consider active debris removal (ADR) missions as the only viable way of preserving the space environment for future generations. Among all objects in the current environment, the SL-8 (Kosmos 3M second stages) rocket bodies (R/Bs) are some of the most suitable targets for future robotic ADR missions. However, to date, an autonomous relative navigation to and capture of an non-cooperative target has never been performed. Therefore, there is a need for more advanced, autonomous and modular systems that can cope with uncontrolled, tumbling objects. The guidance, navigation and control (GNC) system is one of the most critical ones. The main objective of this paper is to present a preliminary concept of a modular GNC architecture that should enable a safe and fuel-efficient capture of a known but uncooperative target, such as Kosmos 3M R/B. In particular, the concept was developed having in mind the most critical part of an ADR mission, i.e. close range proximity operations, and state of the art algorithms in the field of autonomous rendezvous and docking. In the end, a brief description of the hardware in the loop (HIL) testing facility is made, foreseen for the practical evaluation of the developed architecture.

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Section: State Of the Art Of Gnc Algorithmsmentioning

confidence: 99%

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

Janković

Paul

Kirchner

2016

Advances in Space Research

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“…A sufficient condition would be that the servicing satellite not only matches the velocity of the target satellite but also aligns its docking interface with that of the target satellite. The alignment problem has been discussed in [9].…”

Section: Tracking the Angular Velocity Of The Target Satellitementioning

confidence: 99%

“…A prototype system was also developed to control a robotic arm that autonomously captures a free-flying satellite in a realistic laboratory setting that faithfully mimics on-orbit conditions. Ma et al proposed an optimal control strategy for a servicing spacecraft to rendezvous with a target satellite in a proximity range [9]. Based on Pontryagin's maximum principle, the method can generate an optimal approaching trajectory to guide the servicing spacecraft to approach the target satellite.…”

Section: Introductionmentioning

confidence: 99%

Angular-velocity tracking with unknown dynamics for satellite rendezvous and docking

Diao

Liang

2009

SPIE Proceedings

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Autonomous satellite on-orbit servicing is a very challenging task when the satellite to be serviced is tumbling and has an unknown dynamics model. This paper addresses an adaptive control approach which can be used to assist the control of a servicing satellite to rendezvous and dock with a tumbling satellite whose dynamics model is unknown. A proximity-rendezvous and docking operation can be assumed to have three steps: 1) pre-dock alignment, 2) soft docking and latching/locking-up, and 3) post-docking stabilization. The paper deals with the first and third steps. Lyapunovbased tracking law and adaptation law are proposed to guarantee the success of the nonlinear control procedures with dynamics uncertainties. A dynamics simulation example is presented to illustrate the application of the proposed control approach. Simulation results demonstrated that the adaptive control method can successfully track any required angular velocity trajectory even when the dynamics model of the target satellite is unknown.

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“…Matsumoto et al [74] proposed a passive fly-by approach and an optimal trajectory for closerange rendezvous with a rotating satellite, considering issues such as collision avoidance between the manipulator and the target satellite. Ma et al [75] designed an optimal trajectory for a spacecraft to approach a tumbling satellite by minimizing time and fuel. They obtained the required thrust force profiles that would guide the chasing spacecraft to approach the tumbling satellite such that the two vehicles would eventually have no relative rotation and thus, a subsequent capture operation can be safely performed with a normal docking or capture mechanism.…”

Section: B Proximity Rendezvous For Autonomous Capturingmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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Optimal approach to and alignment with a rotating rigid body for capture

Cited by 46 publications

References 8 publications

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

Angular-velocity tracking with unknown dynamics for satellite rendezvous and docking

A Review of Robotics Technologies for On-Orbit Services

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