Estimation and control of flexible space structures for autonomous on-orbit assembly

The ability to autonomously assemble large structures in space is desirable for the construction of large orbiting solar arrays, interplanetary spacecraft, or space telescopes. One technique uses free-flying satellites to manipulate and connect elements of the structure. Since these elements are often flexible and lack embedded actuators and sensors, the assembly robot must use its own actuators and onboard measurements to suppress vibrations during transportation maneuvers. This thesis will examine the dynamic modeling of a free-flying robot attached to a flexible beam-like element, vision-based estimation of vibrational motion, and trajectory control for assembly of a space structure.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2009

Author dc:creator

• Katz, Jacob G

Advisor dc:contributor.advisor

• David W. Miller and Alvar Saenz-Otero.

• Aeronautics and Astronautics.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/50599

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/50599