Compliant Spacecraft Capture via a Nonlinear Disturbance Observer-based Impedance Controller
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Bibliographic record
Abstract
This paper proposes the use of a nonlinear disturbance observer-based impedance controller for the compliant capture of free-flying spacecraft using a free-flying robot. First, the dynamics for a free-flying spacecraft are derived. An existing nonlinear disturbance observer that can be used to determine the end-effector disturbance for a fixed-base manipulator without knowledge of the second state derivatives is then extended for use with a free-flying robot. The observer is shown to be asymptotically stable. The observer is then paired with an impedance controller, and the proposed technique is successfully experimentally validated at Carleton University’s Spacecraft Robotics and Control Laboratory, where a robotic manipulator achieves the compliant capture of a free-floating spacecraft.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it