Model predictive control for cooperative control of space robots.

Kannan, Somasundar; Alamdari, Seyed Amin Sajadi; Dentler, Jan; Olivares-Mendez, Miguel A.; Voos, Holger

Abstract

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.

Citation

KANNAN, S., ALAMDARI, S.A.S., DENTLER, J., OLIVARES-MENDEZ, M.A. and VOOS, H. 2017. Model predictive control for cooperative control of space robots. AIP conference proceedings [online], 1798: proceedings of the 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016), 4-8 July 2016, La Rochelle, France, article 020068. Available from: https://doi.org/10.1063/1.4972660

• Presentation Conference Type: Conference Paper (published)
• Conference Name: 11th International conference on mathematical problems in engineering, aerospace and sciences world congress 2016 (ICNPAA 2016)
• Acceptance Date: Jul 8, 2016
• Online Publication Date: Jul 8, 2016
• Publication Date: Jan 27, 2017
• Deposit Date: Nov 8, 2022
• Publicly Available Date: Nov 8, 2022
• Journal: AIP Conference Proceedings
• Print ISSN: 0094-243X
• Electronic ISSN: 1551-7616
• Publisher: AIP Publishing
• Peer Reviewed: Peer Reviewed
• Volume: 1798
• Article Number: 020068
• DOI: https://doi.org/10.1063/1.4972660
• Keywords: Robotics; Educational assessment
• Public URL: https://rgu-repository.worktribe.com/output/1279810
• Publisher URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85013660484&doi=10.1063%2f1.4972660&partnerID=40&md5=7f5567d7aa62a5107e16009297a11758