On the Design, Modeling and Experimental Verification of a Floating Satellite Platform

被引：10

作者：

Banerjee, Avijit ^{[1
]}

Satpute, Sumeet G. ^{[1
]}

Kanellakis, Christoforos ^{[1
]}

Tevetzidis, Ilias ^{[1
]}

Haluska, Jakub ^{[1
]}

Bodin, Per ^{[2
]}

Nikolakopoulos, George ^{[1
]}

机构：

[1] Lulea Univ Technol, Dept Comp Elect & Space Engn, Robot & AI, S-97187 Lulea, Sweden

[2] OHB Sweden AB, S-16440 Stockholm, Sweden

来源：

IEEE ROBOTICS AND AUTOMATION LETTERS | 2022年 / 7卷 / 02期

关键词：

Space robotics and automation; optimization and optimal control; nonlinear model predictive control; friction-less floating platform; satellite simulator;

D O I：

10.1109/LRA.2021.3140134

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this letter, a floating robotic emulation platform is presented with an autonomous maneuverability for a virtual demonstration of a satellite motion. Such a robotic platform design is characterized by its friction-less, levitating, yet planar motion over a hyper-smooth surface. The design of the robotic platform, integrated with the sensor and actuator units, is briefly described, including the related component specification along with the mathematical model, describing its dynamic motion. Additionally, the article establishes a nonlinear optimal control architecture consisting of a unified model predictive approach for the overall manoeuvre tracking. The efficacy of the proposed modeling and control scheme is demonstrated in multiple experimental studies, where it is depicted that the proposed controller has the potential to address a precise point-to-point manoeuvre with terminal objectives, as well as an excellent path following capability. The proposed design is validated with extensive experimental studies, and it is supported with related results.

引用

页码：1364 / 1371

页数：8

共 26 条

[1] The active space debris removal mission RemoveDebris. Part 2: In orbit operations [J].