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Adaptive Force Control for Small Celestial Body Sampling
- Publication Year :
- 2022
- Publisher :
- United States: NASA Center for Aerospace Information (CASI), 2022.
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Abstract
- An adaptive force control algorithm for small celestial body sampling for a variety of surface properties is developed. The control algorithm consists of an adaptive controller combined with feedback linearization. When a spacecraft makes contact with the surface, it must maintain a desired contact force in order to capture a sample. The properties of the surface are unknown or uncertain before contact with the surface is made. The adaptive controller performs system identification online to create an input-output model of the feedback linearized system. From the input-output model a block observable canonical form is realized and the control input is determined by model predictive control (MPC) to maintain a desired contact force in spite of the unknown surface properties. The approach is applied to a variety of surface properties with linear and nonlinear contact models.
Details
- Language :
- English
- Database :
- NASA Technical Reports
- Publication Type :
- Report
- Accession number :
- edsnas.20230005678
- Document Type :
- Report