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 :	Name Email ORCID Seddaoui, A a.seddaoui@surrey.ac.uk Saaj, C M C.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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