Estimation and Control of Flexible Space Structures for Autonomous On-Orbit Assembly

The ability to autonomously assemble large structures in space is desirable for the construction of large orbiting solar arrays, interplanetary spacecraft, or space telescopes. One technique uses freeying satellites to manipulate and connect elements of the structure. Since these elements are often exible and lack embedded actuators and sensors, the assembly robot must use its own actuators and onboard measurements to suppress vibrations during transportation maneuvers. This thesis will examine the dynamic modeling of a freeying robot attached to a exible beam-like element, vision-based estimation of vibrational motion, and trajectory control for assembly of a space structure. Thesis Supervisor: David W. Miller Title: Professor