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Zero-gravity emulation of satellites in present of uncalibrated sensors and model uncertainties
, Article Proceedings of the IEEE International Conference on Control Applications, 8 July 2009 through 10 July 2009, Saint Petersburg ; 2009 , Pages 1063-1068 ; 9781424446025 (ISBN) ; Namvar, M ; Sharif University of Technology
Abstract
Recently, an alternative to the standard passive zero gravity emulation testbeds is developed which uses robotic technology. It is comprised of a manipulator whose end-effector rigidly grasps a satellite mock up, a six-axis force/moment (F/M) sensor placed at the interface of the satellite and the manipulator, and a control system. Despite significant advantages of the approach there exist practical problems such as the existence of uncertainty in the robot dynamic model as well as uncalibrated force/moment sensor measurements. In this paper, new adaptive methods based on the Lyapunov theory are proposed to deal with the model uncertainty and imperfect sensor measurements. Simulations which...