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H INFINITY CONTROL FOR A CONTROLLED FLOATING ROBOTIC SPACECRAFT

Seddaoui, A and Saaj, C M (2018) H INFINITY CONTROL FOR A CONTROLLED FLOATING ROBOTIC SPACECRAFT In: International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), 2018-06-04-2018-06-06, Madrid, Spain.

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Abstract

A robotic spacecraft, that can be used for a variety of missions in-orbit, is highly challenging to control due to the dynamic coupling between the arm and the spacecraft base. In addition to the dynamic coupling, there are internal and external disturbances that require a robust controller to be tackled. In this paper, the mission concept of a chaser controlled floating robot used for the capture of a target in-orbit is introduced where the dynamical model of the system is derived with respect to the target frame. An H∞ controller is designed for this system to first reduce the relative range between the chaser and the target then track the pre-designed trajectory for the robotic arm. The simulation results are based on a 12 degree of freedom robotic spacecraft in the presence of internal and external disturbances

Item Type: Conference or Workshop Item (Conference Paper)
Divisions : Faculty of Engineering and Physical Sciences > Electronic Engineering
Faculty of Engineering and Physical Sciences
Authors :
NameEmailORCID
Seddaoui, Aa.seddaoui@surrey.ac.uk
Saaj, C MC.Saaj@surrey.ac.uk
Date : 3 June 2018
Copyright Disclaimer : copyright 2018 the authors
Depositing User : Diane Maxfield
Date Deposited : 20 Feb 2019 11:02
Last Modified : 27 Feb 2019 10:52
URI: http://epubs.surrey.ac.uk/id/eprint/850532

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