In this article, an offline model predictive control (MPC) based on the linear parameter-varying (LPV) model is developed for free-floating space robots. Parameter set mapping is employed to obtain an LPV model with fewer scheduling parameters, which can enable easier control design and achieve more objectives by using linear control methods. In terms of the LPV system with external disturbance, an MPC method is proposed. Since large disturbance to the base attitude is not admissible in certain missions such as communication with the earth, a term related to the base angular velocity is considered as a part of the cost function of MPC. To deal with actuator saturation, input limitations are included in the constraints of MPC. Moreover, an offline algorithm is introduced to reduce the online computation. Numerical simulations are presented to demonstrate the effectiveness of the proposed method.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    LPV-Based Offline Model Predictive Control for Free-Floating Space Robots


    Beteiligte:
    Jin, Rongyu (Autor:in) / Rocco, Paolo (Autor:in) / Chen, Xueqin (Autor:in) / Geng, Yunhai (Autor:in)


    Erscheinungsdatum :

    2021-12-01


    Format / Umfang :

    1077044 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Model Predictive Control of Floating Space Robots for Close Proximity On-Orbit Operations

    Srivastava, Raunak / Sah, Roshan / Das, Kaushik | AIAA | 2023


    Model Predictive Control of Floating Space Robots for Close Proximity On-Orbit Operations

    Srivastava, Raunak / Sah, Roshan / Das, Kaushik | TIBKAT | 2023


    Dynamic Simulations of Free-Floating Space Robots

    Rybus, Tomasz / Seweryn, Karol / Banaszkiewicz, Marek et al. | Tema Archiv | 2012


    Free-floating dual-arm robots for space assembly

    Agrawal, Sunil / Chen, M. | AIAA | 1994


    Free-floating dual-arm robots for space assembly

    Agrawal, S.K. / Chen, M.Y. | Tema Archiv | 1994