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In this paper the design of a linear model predictive controller for a triangular floating platform is presented aiming at the stabilization of its linear and angular velocities as well as its position and orientation. Three rotating jets, located at the corners of the platform, control its motion. With this control configuration, the platform is over-actuated. The prediction, and optimization phase...
A planning and control methodology for manipulating passive objects using orbital servicers in zero gravity has been developed by the authors. In this work, a parametric sensitivity analysis of the proposed model-based control for the motion of the passive object, in terms of parametric uncertainties, is presented. A linearization methodology is used to provide a scheme with which the controller robust...
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