A <i>H</i> _∞ 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 <i>H</i>_&#x221E; control solution for the ESA&#x2019;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 <i>H</i>_&#x221E; mixed sensitivity approach and the <i>H</i>_&#x221E; 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&#x2019;s e.Deorbit mission simulator, demonstrates the efficiency of the proposed control solution.