Implementing feedback control on a novel proximity operations simulation platform
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Recently, The Land, Air and Space Robotics (LASR) Laboratory has demonstrated a state-of-the-art proximity operations testbed that will revolutionize the concept of portable space systems simulation. The Holonomic Omni-directional Motion Emulation Robot (HOMER) permits infinite, un-tethered circumnavigations of one object by another. The redundant drive wheels with off-set castor design enables the platform to rotate and translate independently allowing a true, high fidelity simulation platform ideal for satellite operations. The inertial sensing systems at the LASR Laboratory allow for position and orientation measurements of rigid bodies within the workspace. To allow this platform to operate at the desired performance, an appropriate implementation of feedback control is critical. Before implementing the controller on the hardware, it is necessary to explore the sensitivity of the reference tracking when several combinations of errors are introduced to the system including latency, noise, and errors in mass and moment of inertia estimates. © 2010 by Kurt A. Cavalieri, Jeremy J. Davis, James Doebbler, John E. Hurtado, John L. Junkins.
author list (cited authors)
Cavalieri, K. A., Davis, J. J., Doebbler, J., Hurtado, J. E., & Junkins, J. L.