An adaptive force-control augmentation for small celestial body sampling for a variety of surface properties is developed. The control algorithm consists of a nominal robust controller augmented with an adaptive controller combined with feedback linearization. When a spacecraft makes contact with the surface, it must maintain a desired contact force in order to capture a sample. The properties of the surface are unknown or uncertain before contact with the surface is made. Because the nominal robust controller may have poor performance in some surface property regimes, the goal is to improve performance using an adaptive controller. The adaptive controller performs system identification online to create an input–output model of the feedback-linearized system. From the input–output model, a block-observable canonical form is realized and the control input augmentation is determined by model predictive control. The resulting augmentation is added to the input of the robust controller to improve the closed-loop performance and maintain a desired contact force despite the unknown surface properties. The approach is applied to a variety of surface properties with linear and nonlinear contact models and multiple surface sampling maneuvers.
Adaptive Force-Control Augmentation for Small Celestial Body Sampling
Journal of Guidance, Control, and Dynamics ; 46 , 12 ; 2265-2274
2023-12-01
Article (Journal)
Electronic Resource
English
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