Optimal Control of Space Robots for Capturing a Tumbling Object with Uncertainties

Abstract

No AccessEngineering NoteOptimal Control of Space Robots for Capturing a Tumbling Object with UncertaintiesAngel Flores-Abad, Zheng Wei, Ou Ma and Khanh PhamAngel Flores-AbadMechanical and Aerospace Engineering Department, New Mexico State University, Las Cruces, New Mexico 88003*Ph.D. Student, Mechanical and Aerospace Engineering Department; currently Professor, Mechatronics Department, Universidad Autónoma de Ciudad Juárez, Ciudad Juárez, Chihuahua 32310, Mexico; . Member AIAA.Search for more papers by this author, Zheng WeiMechanical and Aerospace Engineering Department, New Mexico State University, Las Cruces, New Mexico 88003†Ph.D. Candidate, Department of Mathematics; .Search for more papers by this author, Ou MaMechanical and Aerospace Engineering Department, New Mexico State University, Las Cruces, New Mexico 88003‡Professor, Mechanical & Aerospace Engineering Department; . Senior Member AIAA.Search for more papers by this author and Khanh PhamSpace Vehicles Directorate, U.S. Air Force Research Laboratory, Kirtland Air Force Base, New Mexico 87117§Senior Aerospace Engineer, Space Vehicles Directorate; . Associate Fellow AIAA.Search for more papers by this authorPublished Online:13 Oct 2014https://doi.org/10.2514/1.G000003SectionsView Full TextPDFPDF Plus ToolsAdd to favoritesDownload citationTrack citations ShareShare onFacebookTwitterLinked InRedditEmail About References [1] Wee L. and Walker M. W., “On the Dynamics of Contact Between Space Robots and Configuration Control for Impact Minimization,” IEEE Transactions on Robotics and Automation, Vol. 9, No. 5, 1993, pp. 581–591. doi:https://doi.org/10.1109/70.258051 IRAUEZ 1042-296X CrossrefGoogle Scholar[2] Yoshida K. and Nenchev D. N., “Space Robot Impact Analysis and Satellite-Base Impulse Minimization Using Reaction Null-Space,” IEEE International Conference on Robotics and Automation, IEEE, Piscataway, NJ, 1995, pp. 1271–1277. Google Scholar[3] Papadopoulos E. and Paraskevas I., “Design and Configuration Control of Space Robots Undergoing Impacts,” 6th International ESA Conference on Guidance, Navigation and Control Systems, edited by Danesy D., European Space Agency, SP-606, 2006, pp. 17–20. Google Scholar[4] Huang P., Liang B. and Xu Y. S., “Configuration Control of Space Robots for Impact Minimization,” IEEE International Conference on Robotics and Biomimetics, IEEE, Piscataway, NJ, 2006, pp. 357–362. Google Scholar[5] Flores-Abad A., Wei Z., Ma O. and Pham K., “Optimal Control of a Space Robot to Approach a Tumbling Object for Capture with Uncertainties in the Boundary Conditions,” AIAA Guidance Navigtion and Control Conference, AIAA Paper 2013-4522, Aug. 2013, doi:https://doi.org/10.2514/6.2013-4522 LinkGoogle Scholar[6] Xu Y. and Kanade T. (eds.), Space Robotics: Dynamics and Control, Kluwer Academic, Norwell, MA, 1993, pp. 169–175. Google Scholar[7] Mesterton-Gibbons M., A Primer on the Calculus of Variation and Optimal Control Theory, American Mathematical Society, Providence, RI, 2009, pp. 127–148. Google Scholar[8] Gilks W. R., Richardson S. and Spiegelhalter D. J., Markov Chain Monte Carlo in Practice: Interdisciplinary Statistics, Chapman and Hall/CRC Press, London, 1996, pp. 115–127. CrossrefGoogle Scholar[9] Espero M.T., “Future Space Robotics and Large Optical Systems: A Picture of Orbital Express,” Ares V Workshop, CA, 2008, http://spirit.as.utexas.edu/~fiso/telecon/Espero_3-28-07/Orbital%20Express.ppt. Google Scholar[10] Rutquist P. E. and Edvall M. M., “Propt-MATLAB Optimal Control Software,” TOMLAB Optimization, Inc., Pullman, WA, 2010. Google Scholar Previous article Next article