caa a22 4500 60624509X CHVBK 20210128101333.0 cr unu---uuuuu 210128e20150601xx s 000 0 eng 10.1007/s12567-015-0082-4 doi (NATIONALLICENCE)springer-10.1007/s12567-015-0082-4 Modeling and control of a space robot for active debris removal [Elektronische Daten] [Vincent Dubanchet, David Saussié, Daniel Alazard, Caroline Bérard, Catherine Peuvédic] Space access and satellites lifespan are increasingly threatened by the great amount of debris in Low Earth Orbits. Among the many solutions proposed in the literature so far, the emphasis is put here on a robotic arm mounted on a "chaser” satellite to capture massive debris, such as dead satellites or launch vehicle upper stages. The modeling and control of such systems are investigated throughout the paper. Dynamic models rely on an adapted Newton-Euler algorithm, and control algorithms are based on the fixed-structure $$H_{\infty}$$ H ∞ synthesis, recently implemented in an efficient Matlab toolbox. The main goal is to efficiently track a target point on the debris while using PD-like controllers to reduce computational burden. The fixed-structure $$H_{\infty}$$ H ∞ framework proves to be a suitable tool to design a reduced-order robust controller that catches up with external disturbances and is simultaneously compatible with current space processors capabilities. CEAS, 2015 Space debris nationallicence Robotics nationallicence Modeling nationallicence PD controller nationallicence Trajectory tracking nationallicence Dubanchet Vincent École Polytechnique de Montréal, Université de Montréal, Montreal, QC, Canada aut Saussié David École Polytechnique de Montréal, Université de Montréal, Montreal, QC, Canada aut Alazard Daniel Institut Supérieur de l'Aéronautique et de l'Espace, 31055, Toulouse, France aut Bérard Caroline Institut Supérieur de l'Aéronautique et de l'Espace, 31055, Toulouse, France aut Peuvédic Catherine Thalès Alenia Space, 06156, Cannes La Bocca, France aut CEAS Space Journal Springer Vienna 7/2(2015-06-01), 203-218 1868-2502 7:2<203 2015 7 12567 https://doi.org/10.1007/s12567-015-0082-4 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s12567-015-0082-4 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Dubanchet Vincent École Polytechnique de Montréal, Université de Montréal, Montreal, QC, Canada aut NATIONALLICENCE 700 1- Saussié David École Polytechnique de Montréal, Université de Montréal, Montreal, QC, Canada aut NATIONALLICENCE 700 1- Alazard Daniel Institut Supérieur de l'Aéronautique et de l'Espace, 31055, Toulouse, France aut NATIONALLICENCE 700 1- Bérard Caroline Institut Supérieur de l'Aéronautique et de l'Espace, 31055, Toulouse, France aut NATIONALLICENCE 700 1- Peuvédic Catherine Thalès Alenia Space, 06156, Cannes La Bocca, France aut NATIONALLICENCE 773 0- CEAS Space Journal Springer Vienna 7/2(2015-06-01), 203-218 1868-2502 7:2<203 2015 7 12567