Open AccessControl of Satellites with Onboard Robotic Manipulators
Author(s) -
Robert Buckelew,
Ethan Catalanello,
Annalisa Scacchioli
Publication year - 2021
Publication title -
aresty rutgers undergraduate research journal
Language(s) - English
Resource type - Journals
ISSN - 2766-2918
DOI - 10.14713/arestyrurj.v1i2.156
Subject(s) - satellite , robotic arm , computer science , matlab , pid controller , control theory (sociology) , position (finance) , motion (physics) , simulation , control engineering , control (management) , engineering , aerospace engineering , artificial intelligence , operating system , temperature control , finance , economics
Free-floating satellites with onboard robotic manipulators are subjected to widely varying loads resulting from the motion of the robotic manipula-tors. As there are no fixed supports in space, these loads will cause the satellite to move. By modelling the motion of the onboard robotic arms, determin-ing the necessary reaction loads (which must be sup-plied by the satellite to keep the arm fixed), and sim-ulating the resulting satellite dynamics, we designed a model of a satellite-arm system. We found that a Proportional-Integral-Derivative (PID) control scheme, with disturbance-estimating capabilities, was effective in maintaining satellite position and ori-entation during the operation of the onboard ro-botic manipulator. The MATLAB-based Simulink modeling environment was used to perform the sim-ulations of satellite dynamics and control.