Parameters estimation of space debris captured by tethered robotic system

科研成果: 书/报告/会议事项章节会议稿件同行评审

5 引用 (Scopus)

摘要

This paper presents a new scheme for on-line inertia parameters estimation for a rigid space debris captured by a tethered robotic system, based on a new dynamics model of the system where the base satellite and the space debris (target) are modeled as rigid bodies and the attachment points of the tether are offset from the centers of mass of the two bodies. In the proposed algorithm, the chaser and target are modeled as rigid bodies, the latter with unknown inertia parameters. Then, the parameters identification problem is formulated and solved. First, we analyze the planar motion of the target satellite and the tether based on the proposed rigid body model. Then, the oscillations of the tether and target satellite during the post-capture phase are used to estimate the inertia parameters of the unknown satellite under the circumstances that all the information of the target is not communicated to the chaser spacecraft or the terminal robotic device due to it is an uncooperative target. At last, a robust variable forgetting factor recursive least-squares algorithm is involved to identify the moments of inertia and the offsets of the uncooperative target.

源语言英语
主期刊名2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
出版商Institute of Electrical and Electronics Engineers Inc.
130-135
页数6
ISBN(电子版)9781479973965
DOI
出版状态已出版 - 20 4月 2014
活动2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, 印度尼西亚
期限: 5 12月 201410 12月 2014

出版系列

姓名2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

会议

会议2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
国家/地区印度尼西亚
Bali
时期5/12/1410/12/14

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