Article
Automation & Control Systems
Yuanzhe Wang, Mao Shan, Yufeng Yue, Danwei Wang
Summary: This article investigates the target docking problem for nonholonomic mobile robots using relative position and orientation measurements of the target. It proposes an extended Kalman filter-based relative pose estimation algorithm and a practical solution where motion planning and tracking control of the robot are incorporated into a unified scheme to achieve perfect docking operation. Real robot experiments have been performed to demonstrate the effectiveness of the proposed method.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Aerospace
Xiaoxiang Zhang, Yunhai Geng, Baolin Wu
Summary: For the failed spacecraft's on-orbit servicing, a novel approaching and pointing tracking control scheme is proposed in this paper, considering motion constraints and input saturation. A relative position guidance law is proposed for secure approaching and a model predictive controller based on quadratic programming algorithm is designed. To reduce computational effort, only the attitude kinematics equation is used as the process model, and an adaptive anti-saturation attitude controller is designed for tracking the optimal maneuver angular velocity.
Article
Engineering, Aerospace
Kaikai Dong, Jianjun Luo, Daniel Limon
Summary: This study proposes a novel, safe, and stable-by-design model predictive control framework for multistage autonomous rendezvous and docking. The framework combines trajectory planning and control in a single layer, improving real-time performance of the algorithm.
Article
Engineering, Aerospace
Anthea Comellini, Jerome Le Le Ny, Emmanuel Zenou, Christine Espinosa, Vincent Dubanchet
Summary: This study revisits methods for estimating the pose of a known object using global descriptors, without prior information about the object's pose, suitable for initial pose acquisition and fault monitoring. Three classes of global invariant features are analyzed, with testing and comparison of their robustness, accuracy, and computational efficiency. Implementation aspects are discussed to improve accuracy and efficiency.
IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS
(2021)
Article
Engineering, Aerospace
Jesus Ramirez, Leonard Felicetti, Damiano Varagnolo
Summary: This paper presents a path-based model predictive controller for a small satellite to autonomously rendezvous with a tumbling object in a circular low Earth orbit (LEO). The controller incorporates collision avoidance elements and reduces computational effort through algebraic manipulations and linearized state transition matrices. Convex optimization is used to design the controller inputs and collision avoidance scheme, resulting in low computational requirements. Extensive testing confirms the docking and collision avoidance capabilities of the proposed scheme under various perturbations and uncertainties.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2023)
Article
Engineering, Aerospace
Mirko Leomanni, Renato Quartullo, Gianni Bianchini, Andrea Garulli, Antonio Giannitrapani
Summary: This paper addresses the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target. It proposes the use of a variable planning horizon and solving a finite number of linear programs to effectively tackle the nonconvex optimization problem. Simulation results demonstrate that this method is able to generate optimal trajectories at a lower computational cost.
JOURNAL OF GUIDANCE CONTROL AND DYNAMICS
(2022)
Article
Engineering, Aerospace
Renato Volpe, Christian Circi, Marco Sabatini, Giovanni B. Palmerini
Summary: Recent research has focused on techniques for pose and shape reconstruction in the framework of space proximity operations. In the case of an uncooperative and possibly damaged satellite, optical hardware is necessary for complete awareness of the target's configuration. Passive optical sensors, especially monocular cameras paired with depth information, offer the best choice for tracking and extracting meaningful information from observed satellites. The integration of visual navigation with optimal guidance is the main contribution of this research, enabling the iterative calculation of optimal trajectories with accurate estimation of the target's pose and shape.
Article
Environmental Sciences
Leo Renaut, Heike Frei, Andreas Nuechter
Summary: This research presents an improved version of the NDT algorithm to enhance its robustness while maintaining efficiency. In addition, two strategies are investigated to mitigate the effects of motion blur. The first strategy involves undistorting the point cloud, while the second strategy introduces a continuous-time formulation of the NDT. Hardware-in-the-loop tests demonstrate the capability of the proposed methods to precisely track an uncooperative spacecraft under realistic conditions within tens of milliseconds.
Article
Computer Science, Information Systems
Shuang Liang, Yasheng Zhang, Weilin Wang, Lu Jia
Summary: This study proposes a sliding mode controller (SMC) based on active disturbance rejection control (ADRC) technology to address the practical problems of external unknown disturbance and internal modeling uncertainty when a space tumbling target flies around in close range. The SMC enables real-time estimation and compensation of total disturbance, effectively suppressing disturbance and overcoming the traditional sliding mode controller's chattering problem.
Article
Engineering, Aerospace
Pegah Abdollahzadeh, Sayyed Majid Esmailifar
Summary: This study proposed a method for translational and rotational control of a chaser spacecraft in the docking phase with a target subjected to external disturbances, coordinating the relative position and attitude of the two spacecraft. The control systems regulate the relative velocities to achieve zero motion during docking, ensuring robustness in the face of disturbances and uncertainties. Simulation results demonstrate the effectiveness of the controller scheme in achieving precise docking conditions.
ADVANCES IN SPACE RESEARCH
(2021)
Article
Multidisciplinary Sciences
Ali Kasiri, Farhad Fani Saberi
Summary: This article proposes an approach to enhance the accuracy of the final proximity phase of a servicer spacecraft through precise modeling. Unlike other approaches, this paper uses a fully nonlinear model and considers various uncertainties and disturbances. Two sliding mode-based control techniques are designed, and the Lyapunov stability criterion is used to handle nonlinear effects and uncertainties. Simulations demonstrate the feasibility and efficiency of the proposed scheme.
SCIENTIFIC REPORTS
(2023)
Article
Robotics
Keenan Albee, Charles Oestreich, Caroline Specht, Antonio Teran Espinoza, Jessica Todd, Ian Hokaj, Roberto Lampariello, Richard Linares
Summary: The accumulation of space debris poses a threat to the practical use of space, while servicing ailing satellites and clearing high-value space debris remains a significant challenge. Autonomous repair and deorbit spacecraft are inching closer to reality, but practical challenges such as identifying the tumbling motion of targets still need to be addressed. This study proposes a complete pipeline of rendezvous with tumbling targets, utilizing visual estimation and motion planning algorithms, as well as addressing uncertainties in system performance.
FRONTIERS IN ROBOTICS AND AI
(2021)
Article
Robotics
Jiunn-Kai Huang, William Clark, Jessy W. Grizzle
Summary: This letter introduces the concept of optimizing target shape for LiDAR point clouds to eliminate pose ambiguity and proposes a method to estimate target vertices using the target's geometry. By using the optimal shape and the global solver, high localization accuracy can be achieved even at a distance of 30 meters away.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Automation & Control Systems
Dongting Li, Rui-Qi Dong, Yanning Guo, Guangtao Ran, Dongyu Li
Summary: This article introduces a line-of-sight (LOS)-Euler rendezvous and docking (RVD) framework for docking with a tumbling target under various RVD constraints. The framework uses a double-loop control scheme to control the chaser's position and attitude to track the target's docking port and rotation. The proposed framework linearly describes the complex couplings between the position and attitude control and the RVD constraints.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Chunting Jiao, Lin Zhang, Xiaojie Su, Fangzheng Xue, Bin Liang
Summary: An autonomous capture framework for a tumbling target satellite with a space manipulator is proposed in this study. The framework addresses the motion and attitude deviations of the target by constructing a motion model and introducing a predictive motion control method. Different autonomous capture strategies, including non-fixed-point position-based and area-based capture, are proposed to capture different parts of the target for practical applications. The framework is tested and validated through simulations, providing alternatives for practical autonomous capture processes.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Engineering, Aerospace
Liang Fan, Liang-liang Lv, Fu-jun Peng, Guo-ping Cai
ADVANCES IN SPACE RESEARCH
(2020)
Article
Engineering, Aerospace
Xiao-Feng Liu, Xiao-Yu Zhang, Pei-Ran Chen, Guo-Ping Cai
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2020)
Article
Mechanics
Yuanqing Liu, Xiaofeng Liu, Guoping Cai, Jubing Chen
Summary: This paper investigates a detumbling scheme for a flexible target using a flexible-base space robot in post-capture phase. The scheme includes trajectory planning and coordination control to stabilize the base attitude of the space robot and suppress vibrations of the flexible panels. Numerical simulations demonstrate the effectiveness and robustness of the detumbling scheme.
MULTIBODY SYSTEM DYNAMICS
(2021)
Article
Acoustics
Xiang Liu, Guoping Cai, K. W. Wang
Summary: This paper investigates topologically protected wave propagation in metastable structure by mimicking the quantum valley Hall effect, achieving reconfigurable topological waveguides. Through breaking the space inversion symmetry of the unit cell and opening a topological bandgap, the non-triviality of the bandgap is verified using Berry curvature and valley Chern number. Utilizing edge modes, topologically protected waveguides immune to backscattering at sharp corners and local defects are achieved.
JOURNAL OF SOUND AND VIBRATION
(2021)
Article
Engineering, Aerospace
Qi-shuai Wang, Guo-ping Cai
Summary: This article introduces a pose estimation method for fast tumbling space noncooperative targets, which extracts the target's body-fixed coordinate system to achieve pose initialization and tracking, resulting in high-precision pose estimation of the target.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
(2021)
Article
Mechanics
Xiao-Feng Liu, Xiao-Yu Zhang, Guo-Ping Cai, Ming-Ming Wang
Summary: This paper studies a collision control strategy for using a robotic arm to slow down the rotational velocity of a non-cooperative spacecraft in order to maintain contact and apply detumbling force.
MULTIBODY SYSTEM DYNAMICS
(2021)
Article
Engineering, Aerospace
Qing Zhou, Xiaofeng Liu, Guoping Cai
Summary: This article investigates the trajectory planning problem for minimizing the disturbance of base attitude of a dual-arm space robot. Through numerical simulations, it is demonstrated that the proposed method effectively plans trajectories where the base attitude remains nearly unchanged.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
(2022)
Article
Engineering, Aerospace
Xiang Liu, Liangliang Lv, Guoping Cai
Summary: This paper investigates the hybrid control of attitude maneuver and nonlinear vibration of a satellite with membrane antenna structure. By establishing a nonlinear dynamic model and proposing an active control strategy, the accuracy of attitude maneuver of the satellite can be significantly improved while effectively suppressing the nonlinear vibration of the membrane antenna structure.
AEROSPACE SCIENCE AND TECHNOLOGY
(2021)
Article
Acoustics
Xiang Liu, Liangliang Lv, Fujun Peng, Guoping Cai
Summary: This paper studies the wave-based active vibration control of a membrane structure using the Active Sink Method. Unlike modal-based vibration control, the wave-based controller can keep vibration modes inactive by preventing the formation of standing waves in the structure. The paper derives the wave transfer matrix and analytically derives the feedforward wave control laws, and verifies their effectiveness through numerical simulations.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Engineering, Aerospace
Xiang Liu, Lianglinag Lv, Guoping Cai
Summary: This paper studies the active nonlinear vibration control of a membrane solar array structure. By establishing a nonlinear dynamic model and optimizing the optimal positions of piezoelectric actuators, an active controller is designed to effectively suppress the nonlinear vibration. Simulation results show that the optimally placed actuators can produce better control effect with smaller control inputs.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
(2022)
Article
Engineering, Aerospace
Xiang Liu, Guoping Cai
Summary: This paper investigates the thermal analysis, rigid-flexible coupling dynamic modeling, and control of a membrane antenna structure. By discretizing the structure and considering thermal stress, the vibration modes of the membrane antenna structure are obtained, and a rigid-flexible coupling dynamic model for the membrane-antenna-satellite system is established. The presented component synthesis vibration suppression (CSVS) method effectively reduces the vibration of the membrane antenna structure caused by attitude maneuver and improves the accuracy of the maneuver.
INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING
(2022)
Article
Computer Science, Interdisciplinary Applications
Xiang Liu, G. P. Cai
Summary: This paper investigates the nonlinear dynamics of a membrane structure considering the effect of wrinkling. The coupling between wrinkles and vibration is elaborately studied, revealing new insights on the dynamics of wrinkled membranes. The wrinkling model of the membrane structure is established based on the stability theory of plates and shells, and the dynamic response is calculated using the NewMark method, taking into account the effects of wrinkling and nonlinearity. The findings show that wrinkling significantly impacts the dynamics of the membrane structure, and the dynamic response can be classified into three categories depending on the vibration amplitude, with the wrinkles either only affecting the dynamics as initial conditions or interacting with the vibration during the dynamic process, ultimately leading to a dominance of geometric nonlinearity in large-amplitude vibrations.
ENGINEERING COMPUTATIONS
(2023)
Article
Engineering, Aerospace
Xiang Liu, Guoping Cai, Chaolan You, Saijin Yao
Summary: This paper investigates the on-orbit modal identification of membrane antenna spacecraft. The dynamic model of the spacecraft is updated based on the modal identification results, and a vibration controller is designed. The SSI-COV method is adopted to identify the modal parameters using output measurements under ambient excitation. The simulation results show that the SSI-COV method is effective in identifying the modal parameters, the updated dynamic model improves the original model, and the CSVS controller's vibration suppression effect is significantly improved after model updating.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING
(2023)
Article
Engineering, Aerospace
Yuanqing Liu, Xiaofeng Liu, Guoping Cai
Summary: This paper presents a new strategy for detumbling a flexible tumbling target in space using a flexible-base space robot, involving trajectory optimization and composite control of the robot. The effectiveness and robustness of the proposed strategy are verified through representative cases.
JOURNAL OF THE ASTRONAUTICAL SCIENCES
(2022)
Article
Engineering, Aerospace
Qi Zhang, Xiaofeng Liu, Guoping Cai
Summary: This paper studies the dynamics and control issues of flexible-link flexible-joint (FLFJ) space robots considering joint friction, and verifies the accuracy of the dynamic model and effectiveness of the controller through numerical simulations.
INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES
(2021)
