A Study of Cooperative Control of Self-Assembling Robots in Space with Experimental Validation

Abstract

Modular self-assembling on-orbit robotic and satellite systems can be more reliable, have lower launch costs, and be more easily repaired and refueled. However, when individual modules assemble, many challenges and opportunities make the control of the assembled system complex. These issues include changes in inertial properties, and redundancy of actuators and sensors. Optimal control methods may be used to coordinate the control of the modules after assembly insure good performance, and best utilize the combined resources of the assembly of modules. Simulation and experimental results compare this Cooperative algorithm's performance to that of an approach in which the control of the individual modules is not coordinated. Cooperative optimal control methods prove well-suited for controlling redundant, modular space systems.

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Document Details

Document Type
Technical Report
Publication Date
May 01, 2009
Accession Number
ADA540677

Entities

People

  • Chiara Toglia
  • Daniel Kettler
  • Fred Kennedy
  • Steven Dubowsky

Organizations

  • Defense Advanced Research Projects Agency

Tags

Communities of Interest

  • Space

DTIC Thesaurus Topics

  • Actuators
  • Algorithms
  • Artificial Satellites
  • Assembly
  • Control Systems
  • Cooperative Control
  • Equations
  • Fuel Consumption
  • Mechanical Engineering
  • Orbits
  • Propulsion Systems
  • Redundancy
  • Robotics
  • Robots
  • Simulations
  • Spacecraft
  • Trajectories

Readers

  • Robotics and Automation.
  • Software Engineering

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Neural Networks
  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Satellites
  • Space - Spacecraft Maneuvers