On Controller parametric sensitivity of passive object handling in space by robotic servicers

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 behavior, in terms of parametric uncertainty, can be ascertained a-priori, without the need of running experiments. The system robust performance is illustrated in realistic 3D scenarios and verified via simulations.