This paper addresses the unexpected contact handling problem for a free-flying orbital robot. A nonlinear observer is developed to detect, isolate, and estimate a collision. Then, a reaction control strategy is proposed, which aims at avoiding the buildup of the contact force and possible instabilities. It is proved that the controlled system is input-to-state stable. The performance of the observer and the controller is assessed through a numerical example featuring a 7-degree-of-freedom arm mounted on a spacecraft and a realistic measurement model. The spacecraft is equipped with thrusters and variable-speed control moment gyros.

Unexpected Collision Detection, Estimation, and Reaction for a Free-Flying Orbital Robot

Cavenago, Francesco;Massari, Mauro;
2021-01-01

Abstract

This paper addresses the unexpected contact handling problem for a free-flying orbital robot. A nonlinear observer is developed to detect, isolate, and estimate a collision. Then, a reaction control strategy is proposed, which aims at avoiding the buildup of the contact force and possible instabilities. It is proved that the controlled system is input-to-state stable. The performance of the observer and the controller is assessed through a numerical example featuring a 7-degree-of-freedom arm mounted on a spacecraft and a realistic measurement model. The spacecraft is equipped with thrusters and variable-speed control moment gyros.
2021
File in questo prodotto:
File Dimensione Formato  
CAVEF_IP_02-21.pdf

Accesso riservato

Descrizione: Paper
: Publisher’s version
Dimensione 558.54 kB
Formato Adobe PDF
558.54 kB Adobe PDF   Visualizza/Apri
CAVEF_OA_02-21.pdf

Open Access dal 19/02/2021

Descrizione: Paper Open Access
: Post-Print (DRAFT o Author’s Accepted Manuscript-AAM)
Dimensione 1.22 MB
Formato Adobe PDF
1.22 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1161883
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 6
  • ???jsp.display-item.citation.isi??? 5
social impact