Particle Swarm Optimization Based Control For a Controlled Floating Space Robot

This paper explores Particle Swarm Optimization (PSO) based control of a morphing robot arm mounted on a Controlled Floating Space Robot (CFSR). CFSR is a new study spacecraft model allowing controlled adjustments of the satellite base's pose. The dynamic model of the chaser spacecraft is derived relative to the target in an inertial frame, using the Clohessy- Wiltshire model or Hills equations for defining their relative motion. It is assumed that both spacecraft are in an Inplane-elliptical formation. The manipulator dynamics are obtained through Lagrangian formulation. The PSO algorithm optimizes controller gain values while a quintic polynomial tra-jectory is provided as input to the arm joints. Results show that the PSO-based controller effectively reduces tracking error and power requirements, and it is also compared with a conventional proportional-derivative (PD) controller.