4026 画像運動推定を活用した非協力ターゲットへの宇宙機の位置追従マニューバ制御(S61-1 宇宙システムの誘導・制御(1),21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

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For capturing uncooperative objects in space, such as failed satellites and asteroids ("targets"), a space robot ("pursuer") must perform six degrees-of-freedom (position and attitude) maneuvers around the target. This requires measurement/estimation of the target's relative motion as information to the controller. In this paper, a strategy for the approach to the target and subsequent proximity maneuver is proposed as a feedforward control phase (phase 1) followed by a feedback control phase (phase 2). In phase 1, the target's future attitude is predicted from the result of motion estimation using image data, and this result is used by the pursuer's motion controller to determine a destination position and attitude. A feedforward optimal control algorithm using the predicted destination that is suitable for real-time application is developed. In phase 2, feedback control such as Sliding Mode Control is used. The feasibility of the proposed control algorithms is investigated through numerical simulation.
一般社団法人日本機械学会の論文
2008-08-02