Year: 2025
Type: preprint
Abstract: In-Orbit Servicing and Active Debris Removal require advanced robotic capabilities for capturing and detumbling uncooperative targets. This work presents a hierarchical control framework for autonomous robotic capture of tumbling objects in space. A simulation environment is developed, incorporating sloshing dynamics of the chaser, a rarely studied effect in space robotics. The proposed controller combines an inner Lyapunov-based robust control loop for multi-body dynamics with an outer loop addressing an extended inverse kinematics problem. Simulation results show improved robustness and adaptability compared to existing control schemes.
Source: arXiv (Cornell University)
Author: Bruschi, Pietro
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4416292106