A.2 Satellite model plant

Three degree of freedom (dof) jet-propelled air cushion vehicle

Contrary to the highly dynamic pole balancing task (especially with small lengths of the pole), the satellite model plant is characterized by sluggish motion controlled by bang-bang digital input (air jet valves closed or open, 1983 – 1987). Two pairs of thrusters at opposite sides of the vehicle allow almost frictionless control of two translational and one rotational degree of freedom; the actual rotation angle determines the thrust direction. In each degree of freedom, two simple integration steps connect control input to object state determining perspective mapping; these dynamic models constitute important knowledge about the motion process observed. Note that velocity components are thus reconstructed as a byproduct by integration of prediction errors; differencing of two consecutive pose states for velocity estimation, leading to noise amplification, usually, is avoided.

video 05 SatelliteModelPlant VisualDocking 1987

References (in temporal order)

Dickmanns ED, Wuensche HJ (1985). Drehlage-Regelung eines Satelliten durch Echtzeit-Bildfolgenverarbeitung. In H. Niemann (ed): Mustererkennung 1985, Informatik Fachberichte 107, Springer-Verlag, pp 239-243

Wuensche HJ (1986). Detection and Control of Mobile Robot Motion by Real-Time Computer Vision. In N. Marquino (ed): Advances in Intelligent Robotics Systems. Proc. of the SPIE, Vol. 727, pp 100-109

Dickmanns ED, Wuensche HJ (1986). Satellite Rendezvous Maneuvers by Means of Computer Vision. Annual Conference of DGLR, München. In: Jahrbuch 1986 Bd. 1 der DGLR, Bonn, pp 251-259

Dickmanns ED, Wuensche HJ (1986). Regelung mittels Rechnersehen. Automatisierungstechnik (at), 34 1/1986 pp 16-22

Wuensche HJ (1988). Bewegungssteuerung durch Rechnersehen. Dissertation, UniBwM / LRT. Appeared also as Fachberichte Messen, Steuern, Regeln Bd. 10, Springer-Verlag, Berlin