Λεπτομέρειες βιβλιογραφικής εγγραφής
| Τίτλος: |
Omnidirectionality-based NMPC for trajectory planning of free-floating space manipulator. |
| Συγγραφείς: |
Jang, Keon-Ik1 (AUTHOR), Jung, Eun-Ho1 (AUTHOR), Kim, Tae-Hyun2 (AUTHOR), Han, Jae-Hung1 (AUTHOR) jaehunghan@kaist.ac.kr |
| Πηγή: |
Acta Astronautica. Oct2026, Vol. 247, p579-590. 12p. |
| Θεματικοί όροι: |
*Predictive control systems, *Space robotics, *Sensitivity analysis, *Robotic path planning, *Controllability in systems engineering, *Energy consumption |
| Περίληψη: |
Space manipulators have emerged as a promising solution for on-orbit servicing and debris removal missions. This paper presents a novel Nonlinear Model Predictive Control (NMPC) trajectory optimization framework for free-floating space manipulators that incorporates an omnidirectionality index. Specifically, this index quantifying the offset of the dynamic manipulability ellipsoid is explicitly penalized in the objective function. Comparative simulations demonstrate that the proposed control strategy achieves superior energy efficiency and positional accuracy compared with conventional NMPC formulations that do not account for the omnidirectionality index. Remarkably, the proposed controller outperforms the conventional method, even when the latter utilizes a significantly extended prediction horizon. Finally, design parameter analysis reveals that the omnidirectionality penalty provides a structural advantage that prediction horizon extension alone cannot replicate, and a robustness study under mass and inertia perturbations confirms that these benefits are preserved under significant model uncertainty. • Omnidirectionality index integrated as soft penalty in NMPC cost function. • η-augmented NMPC reduces energy and improves accuracy by an order of magnitude. • η-augmented NMPC outperforms baseline with horizon extension. • Robustness validated under mass and inertia parameter perturbations. [ABSTRACT FROM AUTHOR] |
| Βάση Δεδομένων: |
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