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Control of a Continuum Manipulator for Capturing a Non-Cooperative Space Target

Habibi Ahmadabadi, Elaheh | 2025

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 58205 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Kiani, Maryam
  7. Abstract:
  8. The application of continuum manipulators in autonomous space missions has attracted significant attention recently. Capturing non-cooperative targets has been counted as a challenge. During contact with non-cooperative targets, disturbances are imparted to the spacecraft. Therefore, it is essential for these robots to manage the disturbances caused by external forces during interactions with non-cooperative targets. Additionally, continuum robots, due to their flexibility, possess complex dynamic models. This causes challenges for controlling by classical methods. This research aims to enhance the control of a spacecraft-mounted continuum robotic arm during contact with non-cooperative targets. To achieve this goal, the dynamic modeling of the robot has been first carried out. Then, a proportional-integral-derivative controller is tuned using the Twin Delayed Deep Deterministic Policy Gradient algorithm. The performance of this controller was compared with a similar controller tuned using classical methods. The results demonstrated that employing the learning algorithm for tuning control parameters can significantly improve performance and reduce the rise time before contact. Furthermore, a PID controller, also tuned with the same learning algorithm, was implemented to control the robotic arm during contact. This approach helped mitigate the effects of the target's inherent dynamics and external forces. Simulation results confirmed the effectiveness of the proposed method
  9. Keywords:
  10. Reinforcement Learning ; Proportional-Integral-Derivative (PID)Controller ; Continuum Manipulator ; Non-Cooperative Target ; Space Target

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