An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts
On-orbit removing tumbling targets is a critical research issue for future space missions. Repeated tentative contacts by the robot can be used to eliminate the rotational motion of a tumbling target. The elimination process depends on the accuracy of the information provided by a motion estimator,...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9794998/ |
| _version_ | 1818548298033659904 |
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| author | Dejia Che Zixuan Zheng Jianping Yuan |
| author_facet | Dejia Che Zixuan Zheng Jianping Yuan |
| author_sort | Dejia Che |
| collection | DOAJ |
| description | On-orbit removing tumbling targets is a critical research issue for future space missions. Repeated tentative contacts by the robot can be used to eliminate the rotational motion of a tumbling target. The elimination process depends on the accuracy of the information provided by a motion estimator, which is not discussed in conventional research. Additionally, there are few literatures that examine how to reduce the number of contacts to increase mission safety. To solve these issues, a coupling framework of a navigation method and a detumbling controller is designed in this paper. In particular, the relative navigation method, which incorporates the momentum transfer information and the visual guidance, is developed to estimate states of the target. The combination of two types of information ensures that the estimator can be used continuously in free-floating and contact modes without the need for measuring interaction forces. By modifying an optimal controller, a detumbling controller is designed. A sufficient condition is established such that the robot can achieve the goal of detumbling the target under the influence of estimation errors. Finally, a numerical example is provided to illustrate the effectiveness of the designed framework. |
| first_indexed | 2024-12-12T08:18:05Z |
| format | Article |
| id | doaj.art-583c422b38274cea88e909887a53a3c0 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-12T08:18:05Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-583c422b38274cea88e909887a53a3c02022-12-22T00:31:30ZengIEEEIEEE Access2169-35362022-01-0110644356445010.1109/ACCESS.2022.31826969794998An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative ContactsDejia Che0https://orcid.org/0000-0003-0558-3471Zixuan Zheng1https://orcid.org/0000-0002-2132-6478Jianping Yuan2https://orcid.org/0000-0001-9561-8310School of Astronautics, Northwestern Polytechnical University, Xi’an, ChinaSchool of Astronautics, Northwestern Polytechnical University, Xi’an, ChinaSchool of Astronautics, Northwestern Polytechnical University, Xi’an, ChinaOn-orbit removing tumbling targets is a critical research issue for future space missions. Repeated tentative contacts by the robot can be used to eliminate the rotational motion of a tumbling target. The elimination process depends on the accuracy of the information provided by a motion estimator, which is not discussed in conventional research. Additionally, there are few literatures that examine how to reduce the number of contacts to increase mission safety. To solve these issues, a coupling framework of a navigation method and a detumbling controller is designed in this paper. In particular, the relative navigation method, which incorporates the momentum transfer information and the visual guidance, is developed to estimate states of the target. The combination of two types of information ensures that the estimator can be used continuously in free-floating and contact modes without the need for measuring interaction forces. By modifying an optimal controller, a detumbling controller is designed. A sufficient condition is established such that the robot can achieve the goal of detumbling the target under the influence of estimation errors. Finally, a numerical example is provided to illustrate the effectiveness of the designed framework.https://ieeexplore.ieee.org/document/9794998/Space debrisspace robotstate estimationdetumbling controllerrepeated contact |
| spellingShingle | Dejia Che Zixuan Zheng Jianping Yuan An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts IEEE Access Space debris space robot state estimation detumbling controller repeated contact |
| title | An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts |
| title_full | An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts |
| title_fullStr | An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts |
| title_full_unstemmed | An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts |
| title_short | An Innovate Detumbling Method for a Non-Cooperative Space Target via Repeated Tentative Contacts |
| title_sort | innovate detumbling method for a non cooperative space target via repeated tentative contacts |
| topic | Space debris space robot state estimation detumbling controller repeated contact |
| url | https://ieeexplore.ieee.org/document/9794998/ |
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