Past Event! Note: this event has already taken place.
Research Seminars
July 27, 2018 at 1:30 PM
| Location: | 4124 Mackenzie |
| Cost: | Free |
Speaker: Nika Amralah, Research Assistant
Abstract: Driven by the increasing risks of orbital debris collisions, space researchers are seeking innovative solutions for managing de-commissioned and uncooperative satellites accumulating in Earth’s orbit. Before being able to physically interact with orbital debris using robotic arms or tethers, it is necessary for spacecraft to execute proximity operations. This presentation will explore a model predictive control (MPC) approach for obtaining a desired trajectory which allows a spacecraft to perform rendezvous and docking with a rotating target.
Speaker: Justin Kernot, MASc Student
Abstract: Several capture strategies have been investigated for the purposes of active debris removal in Earth orbits. In response to this growing field of research, a novel robotic gripper driven by a cable-sheath transmission mechanism (CSTM) is proposed. Control of the gripper is achieved using adaptive techniques that compensate for the non-constant hysteresis in CSTMs. In this seminar, two different adaptive control strategies will be presented: an indirect adaptive controller which uses an asymmetric backlash CSTM reference model, and an L1 adaptive controller with hysteresis uncertainty compensation.