Adaptive Synchronization and Control of Free Flying Robots for Capture of Dynamic Free-Floating Spacecrafts

2004 ◽  
Author(s):  
Sam Welsh ◽  
Kamesh Subbarao
Keyword(s):  
Adaptive Synchronization ◽  
And Control ◽  
Flying Robots

scholarly journals Inspiration for wing design: how forelimb specialization enables active flight in modern vertebrates

2017 ◽  
Vol 14 (131) ◽  
pp. 20170240 ◽  
Author(s):  
Diana D. Chin ◽  
Laura Y. Matloff ◽  
Amanda Kay Stowers ◽  
Emily R. Tucci ◽  
David Lentink
Keyword(s):  
Diverse Range ◽  
Wide Margin ◽  
Morphological Adaptations ◽  
Flight Muscles ◽  
Biological Sources ◽  
Bat Wing ◽  
And Control ◽  
Aerodynamic Surfaces ◽  
Flying Robots

Harnessing flight strategies refined by millions of years of evolution can help expedite the design of more efficient, manoeuvrable and robust flying robots. This review synthesizes recent advances and highlights remaining gaps in our understanding of how bird and bat wing adaptations enable effective flight. Included in this discussion is an evaluation of how current robotic analogues measure up to their biological sources of inspiration. Studies of vertebrate wings have revealed skeletal systems well suited for enduring the loads required during flight, but the mechanisms that drive coordinated motions between bones and connected integuments remain ill-described. Similarly, vertebrate flight muscles have adapted to sustain increased wing loading, but a lack of in vivo studies limits our understanding of specific muscular functions. Forelimb adaptations diverge at the integument level, but both bird feathers and bat membranes yield aerodynamic surfaces with a level of robustness unparalleled by engineered wings. These morphological adaptations enable a diverse range of kinematics tuned for different flight speeds and manoeuvres. By integrating vertebrate flight specializations—particularly those that enable greater robustness and adaptability—into the design and control of robotic wings, engineers can begin narrowing the wide margin that currently exists between flying robots and vertebrates. In turn, these robotic wings can help biologists create experiments that would be impossible in vivo .

ON ADAPTIVE SYNCHRONIZATION AND CONTROL OF NONLINEAR DYNAMICAL SYSTEMS

1996 ◽  
Vol 06 (03) ◽  
pp. 455-471 ◽  
Author(s):  
CHAI WAH WU ◽  
TAO YANG ◽  
LEON O. CHUA
Keyword(s):  
Spread Spectrum ◽  
Communication Systems ◽  
Chaotic Systems ◽  
Nonlinear Dynamical Systems ◽  
Adaptive Synchronization ◽  
Adaptive Controllers ◽  
Nonlinear Dynamical ◽  
Two Systems ◽  
And Control

In this paper, we study the synchronization of two coupled nonlinear, in particular chaotic, systems which are not identical. We show how adaptive controllers can be used to adjust the parameters of the systems such that the two systems will synchronize. We use a Lyapunov function approach to prove a global result which shows that our choice of controllers will synchronize the two systems. We show how it is related to Huberman-Lumer adaptive control and the LMS adaptive algorithm. We illustrate the applicability of this method using Chua's oscillators as the chaotic systems. We choose parameters for the two systems which are orders of magnitude apart to illustrate the effectiveness of the adaptive controllers. Finally, we discuss the role of adaptive synchronization in the context of secure and spread spectrum communication systems. In particular, we show how several signals can be encoded onto a single scalar chaotic carrier signal.

Free-flying robots in space: an overview of dynamics modeling, planning and control

Robotica ◽  
2007 ◽  
Vol 25 (5) ◽  
pp. 537-547 ◽  
Author(s):  
S. Ali A. Moosavian ◽  
Evangelos Papadopoulos
Keyword(s):  
Control Strategies ◽  
Equations Of Motion ◽  
Experimental Studies ◽  
Robotic Manipulators ◽  
Microgravity Environment ◽  
Dynamics Modeling ◽  
Planning And Control ◽  
Fixed Base ◽  
And Control ◽  
Flying Robots

SUMMARYFree-flying space manipulator systems, in which robotic manipulators are mounted on a free-flying spacecraft, are envisioned for assembling, maintenance, repair, and contingency operations in space. Nevertheless, even for fixed-base systems, control of mechanical manipulators is a challenging task. This is due to strong nonlinearities in the equations of motion, and consequently different algorithms have been suggested to control end-effector motion or force, since the early research in robotic systems. In this paper, first a brief review of basic concepts of various algorithms in controlling robotic manipulators is introduced. Then, specific problems related to application of such systems in space and a microgravity environment is highlighted. Basic issues of kinematics and dynamics modeling of such systems, trajectory planning and control strategies, cooperation of multiple arm space free-flying robots, and finally, experimental studies and technological aspects of such systems with their specific limitations are discussed.

Modeling and control of biologically inspired flying robots

Robotica ◽  
2011 ◽  
Vol 30 (1) ◽  
pp. 107-121 ◽  
Author(s):  
Micael S. Couceiro ◽  
J. Miguel A. Luz ◽  
Carlos M. Figueiredo ◽  
N. M. Fonseca Ferreira
Keyword(s):  
Dynamic Models ◽  
Dynamic Control ◽  
Biologically Inspired ◽  
Modeling And Control ◽  
High Level ◽  
New Generation ◽  
And Control ◽  
Level Calculation ◽  
Potential Use ◽  
Flying Robots

SUMMARYThis paper covers a wide knowledge of physical and dynamical models useful for building flying robots and a new generation of flying platform developed in the similarity of flying animals. The goal of this work is to develop a simulation environment and dynamic control using the high-level calculation tool MatLab and the modeling, simulation, and analysis of dynamic systems tool Simulink. Once created the dynamic models to study, this work involves the study and understanding of the dynamic stability criteria to be adopted and their potential use in the control of flying models.

Attitude Guidance and Control of Mini-satellites and Free-flying Robots*

2013 ◽  
Vol 46 (19) ◽  
pp. 399-404 ◽  
Author(s):  
V. Rutkovsky ◽  
S. Somov ◽  
S. Butyrin ◽  
V. Sukhanov
Keyword(s):  
Guidance And Control ◽  
And Control ◽  
Flying Robots

scholarly journals A Bio-Inspired Manipulator with Claw Prototype for Winged Aerial Robots: Benchmark for Design and Control

2020 ◽  
Vol 10 (18) ◽  
pp. 6516
Author(s):  
Daniel Feliu-Talegon ◽  
José Ángel Acosta ◽  
Alejandro Suarez ◽  
Anibal Ollero
Keyword(s):  
The Body ◽  
Flapping Wings ◽  
Frame Size ◽  
Flight Duration ◽  
End Effector ◽  
Aerial Robots ◽  
And Control ◽  
Flying Robot ◽  
Control Methodology ◽  
Flying Robots

Nature exhibits many examples of birds, insects and flying mammals with flapping wings and limbs offering some functionalities. Although in robotics, there are some examples of flying robots with wings, it has not been yet a goal to add to them some manipulation-like capabilities, similar to ones that are exhibited on birds. The flying robot (ornithopter) that we propose improves the existent aerial manipulators based on multirotor platforms in terms of longer flight duration of missions and safety in proximity to humans. Moreover, the manipulation capabilities allows them to perch in inaccessible places and perform some tasks with the body perched. This work presents a first prototype of lightweight manipulator to be mounted to an ornithopter and a new control methodology to balance them while they are perched and following a desired path with the end effector imitating their beaks. This allows for several possible applications, such as contact inspection following a path with an ultrasonic sensor mounted in the end effector. The manipulator prototype imitates birds with two-link legs and a body link with an actuated limb, where the links are all active except for the first passive one with a grabbing mechanism in its base, imitating a claw. Unlike standard manipulators, the lightweight requirement limits the frame size and makes it necessary to use micro motors. Successful experimental results with this prototype are reported.

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