Concurrent Parameter Identification and Control for Free-Floating Robotic Systems During On-Orbit Servicing
Olga-Orsalia Christidi-Loumpasefski,Georgios Rekleitis,Evangelos Papadopoulos,Olga-Orsalia Christidi-Loumpasefski,Georgios Rekleitis,Evangelos Papadopoulos
To control a free-floating robotic system with uncertain parameters in OOS tasks with high accuracy, a fast parameter identification method, previously developed by the authors, is enhanced further and used concurrently with a controller. The method provides accurate parameter estimates, without any prior knowledge of any system dynamic properties. This control scheme compensates for the accumulat...
