We propose a high-precision pointing control mechanism to meet the demands of larger, more accurate scientific instruments for cutting-edge space observations. A Stewart platform equipped with an artificial thermal-expansion actuator was employed. Because of the absence of moving parts, artificial thermal-expansion actuators are highly reliable. However, when a heater is used as the control input, although it actively controls heating, the temperature decrease relies solely on passive heat dissipation. Therefore, the thermal behavior becomes highly nonlinear, with the control input limited to a positive range. Meanwhile, one of the main causes for deterioration in pointing control accuracy due to structural deformation is thermal disturbance. In orbit, thermal disturbance is mainly periodic, depends on the orbital motion, and is predictable. This study introduced model predictive control to efficiently deal with the input nonlinearity and periodic thermal disturbances. First, the improvements in control accuracy were confirmed through experiments. Then, a state observer using an ensemble Kalman filter was introduced to deal with changes in the thermal characteristics of the system and estimation errors. The experiments demonstrated that model predictive control with an ensemble Kalman filter achieved excellent control performance even with changing thermal characteristics of the system.


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    Titel :

    High-Precision Pointing Control Using Stewart Platform with Adaptive Model Predictive Control


    Beteiligte:
    Mochida, Ryosuke (Autor:in) / Ishimura, Kosei (Autor:in) / Akita, Takeshi (Autor:in) / Kon, Takeru (Autor:in)


    Erscheinungsdatum :

    01.03.2025




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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