Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot

In this thesis, solutions to the first two of three phases associated with on-orbit debris removal are proposed. The first phase concerns the development of optimal space robot manipulator deployment manoeuvres which ensure zero-attitude displacement by the end of the trajectory. Three common pseudospectral optimal control tools are used to develop the trajectories, and the optimality of each solution is assessed using well-established validation techniques. The second phase addresses the compliant capture of a cooperative target using a nonlinear disturbance observer coupled with an impedance controller, and the observer is shown to be asymptotically stable for the case of a free-flying space robot. The performance of the techniques proposed for each phase are first verified in simulation, then through an experimental validation campaign using Carleton University's Spacecraft Robotics and Control Laboratory.

Name thesis:degree_name

Master of Applied Science (M.App.Sc.)

Level thesis:degree_level

Master's

Discipline thesis:degree_discipline

Engineering, Aerospace

Grantor dc:publisher

Carleton University

Year dc:date.issued

2018

Author dc:creator

• Crain, Alexander David

Statement dc:rights

• Copyright © 2018 the author(s). Theses may be used for non-commercial research, educational, or related academic purposes only. Such uses include personal study, research, scholarship, and teaching. Theses may only be shared by linking to Carleton University Institutional Repository and no part may be used without proper attribution to the author. No part may be used for commercial purposes directly or indirectly via a for-profit platform; no adaptation or derivative works are permitted without consent from the copyright owner.

Language dc:language.iso

en

DOI

10.22215/etd/2018-12971

OAI identifier oai:identifier

oai:carleton.scholaris.ca:20.500.14718/39018