Two different H∞controllers were designed for the synchronization phase, with 6-DOF and 10-DOF, respectively, and a dedicated controller was designed for the composite system. μ-analysis was used to assess the robust performance and stability of the controllers.
The impact at system level, in particular the forces and torques induced at the robotic arm's joints were evaluated in simulation using a realistic model of Envisat as the mission target. Monte Carlo campaigns were run in order to assess the time domain robustness of the proposed algorithms.
Provide inputs for an associated technology development roadmap.