Model predictive control for cooperative control of space robots

The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and success...

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Bibliographic Details
Main Authors: Kannan, Somasundar, Alamdari, Seyed Amin Sajadi, Dentler, Jan, Olivares-Mendez, Miguel A., Voos, Holger
Format: Conference Proceeding
Language:English
Subjects:
Computer simulation
Cooperative control
Mathematical models
Predictive control
Robot arms
Robot control
Space robots
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Summary:The problem of Orbital Manipulation of Passive body is discussed here. Two scenarios including passive object rigidly attached to robotic servicers and passive body attached to servicers through manipulators are discussed. The Model Predictive Control (MPC) technique is briefly presented and successfully tested through simulations on two cases of position control of passive body in the orbit.
ISSN:0094-243X
1551-7616
DOI:10.1063/1.4972660