A H∞ control solution for space debris removal missions using robotic arms: the ESA e.Deorbit case

Abstract

This paper is an application-oriented paper about space active debris removal. It discusses the design of a robust H∞ control solution for the ESA’s e.Deorbit mission, whose aim is to remove the Envisat defunct satellite from the low earth orbit protected zone. The solution pertains to a particular technological mean that involves a spacecraft equipped with a robotic manipulator, being operated in tight coordination with the spacecraft platform motion. The proposed solution is based jointly on the H∞ mixed sensitivity approach and the H∞ normalized coprime factor loop-shaping control theory. It is demonstrated in the paper, how uncertainties in the system can be efficiently managed. Simulation results conducted with the ESA’s e.Deorbit mission simulator, demonstrates the efficiency of the proposed control solution.