Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information

Wojciech Domski; Alicja Mazur

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Paper

Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information

Topics: Control and Supervision Systems; Guidance, Navigation and Control; Space and Underwater Robotics

In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 252-257, 2018 , Porto, Portugal

Authors: Wojciech Domski and Alicja Mazur

Affiliation: Wrocław University of Science and Technology, Wrocław and Poland

Keyword(s): Free-floating Satellite, Path Following, Object Capturing.

Related Ontology Subjects/Areas/Topics: Control and Supervision Systems ; Informatics in Control, Automation and Robotics ; Robotics and Automation ; Space and Underwater Robotics

Abstract: This article presents an orthogonal parametrization for a space robot. A simulation scenario was presented where a satellite with a fixed 2R planar manipulator arm is chasing a moving object in the space. A path tracking algorithm with partial state information such as distance to chased object and difference in orientation was used. Due to the undemanding nature of proposed algorithm the satelite can successfully chase an object with limited state information. The chase manoeuvre is divided into two stages. The first stage is to enter an orbit around the object while following curvilinear path. In turn, the second stage is to settle in a point on the orbit to create favourable conditions for any further operations.

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Paper citation in several formats:

Domski, W. and Mazur, A. (2018). Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-321-6; ISSN 2184-2809, SciTePress, pages 252-257. DOI: 10.5220/0006835102520257

@conference{icinco18,
author={Wojciech Domski. and Alicja Mazur.},
title={Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2018},
pages={252-257},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006835102520257},
isbn={978-989-758-321-6},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information
SN - 978-989-758-321-6
IS - 2184-2809
AU - Domski, W.
AU - Mazur, A.
PY - 2018
SP - 252
EP - 257
DO - 10.5220/0006835102520257
PB - SciTePress