A fault-tolerant and robust controller using model predictive path integral control for free-flying space robots

摘要

The use of manipulators in space missions has become popular, as their applications can be extended to various space missions such as on-orbit servicing, assembly, and debris removal. Due to space reachability limitations, such robots must accomplish their tasks in space autonomously and under severe operating conditions such as the occurrence of faults or uncertainties. For robots and manipulators used in space missions, this paper provides a unique, robust control technique based on Model Predictive Path Integral Control (MPPI). The proposed algorithm, named Planner-Estimator MPPI (PE-MPPI), comprises a planner and an estimator. The planner controls a system, while the estimator modifies the system parameters in the case of parameter uncertainties. The performance of the proposed controller is investigated under parameter uncertainties and system component failure in the pre-capture phase of the debris removal mission. Simulation results confirm the superior performance of PE-MPPI against vanilla MPPI.