Three-dimensional modeling and time-delay stability analysis for robotics docking simulation. (November 2019)

• Record Type: Journal Article
• Authors: Sazawal, Prateek; Choukroun, Daniel; Benninghoff, Heike; Gill, Eberhard
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 233:Number 14(2019)
• Page Start: 5438
• Page End: 5455
• Publication Date: 2019-11
• Subjects: Contact model -- time-delay system -- compliance device -- hardware-in-the-loop docking simulator; Aeronautics -- Periodicals; Astronautics -- Periodicals; Airplanes -- Design and construction -- Periodicals; Aerospace industries -- Periodicals; 629.1
• DOI: 10.1177/0954410019846049
• Languages: English
• ISSNs: 0954-4100

Abstract

Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device-based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.