Robust Hybrid Global Dual Quaternion Pose Control of Spacecraft-Mounted Robotic Systems
-
Published:2024-01
Issue:1
Volume:47
Page:5-19
-
ISSN:0731-5090
-
Container-title:Journal of Guidance, Control, and Dynamics
-
language:en
-
Short-container-title:Journal of Guidance, Control, and Dynamics
Author:
King-Smith Matthew1ORCID,
Tsiotras Panagiotis1ORCID
Affiliation:
1. Georgia Institute of Technology, Atlanta, Georgia 30332
Abstract
We propose a nonlinear hybrid dual quaternion feedback control law for multibody spacecraft-mounted robotic systems (SMRSs) pose control. Indeed, screw theory expressed via a unit dual quaternion representation and its associated algebra can be used to compactly formulate both the forward (position and velocity) kinematics and pose control of [Formula: see text]-degree-of-freedom robot manipulators. Recent works have also established the necessary theory for expressing the rigid multibody dynamics of an SMRS in dual quaternion algebra. Given the established framework for expressing both kinematics and dynamics of general [Formula: see text]-body SMRSs via dual quaternions, this paper proposes a dual quaternion control law that achieves simultaneous global asymptotically stable pose tracking for the end effector and the spacecraft base of an SMRS. The proposed hybrid control law is robust to chattering caused by noisy feedback and avoids the unwinding phenomenon innate to continuous-based (dual) quaternion controllers. Additionally, an actuator allocation technique is proposed in the neighborhood of system singularities to ensure bounded control inputs, with minimum deviation from the specified spacecraft base and end-effector trajectories during controller execution.
Funder
The Aerospace Corporation
The National Science Foundation
Publisher
American Institute of Aeronautics and Astronautics (AIAA)
Subject
Applied Mathematics,Electrical and Electronic Engineering,Space and Planetary Science,Aerospace Engineering,Control and Systems Engineering