# Adaptive Robot Detumbling of a Non-Rigid Satellite

arXiv: https://arxiv.org/abs/2407.17617 · HTML: https://mlsanity.com/paper/2407.17617/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 24 Jul 2024.

## Built on by (most cited first, 3 of 3)

- [Visual SLAM with 3D Gaussian Primitives and Depth Priors Enabling Novel View Synthesis](https://mlsanity.com/paper/2408.05635/) (2024)
- [Enhancing Exchange Rate Forecasting with Explainable Deep Learning Models](https://mlsanity.com/paper/2410.19241/) (2024)
- [CROPS: A Deployable Crop Management System Over All Possible State Availabilities](https://mlsanity.com/paper/2411.06034/) (2024)

## Abstract (arXiv)

The challenge of satellite stabilization, particularly those with uncertain flexible dynamics, has become a pressing concern in control and robotics. These uncertainties, especially the dynamics of a third-party client satellite, significantly complicate the stabilization task. This paper introduces a novel adaptive detumbling method to handle non-rigid satellites with unknown motion dynamics (translation and rotation). The distinctive feature of our approach is that we model the non-rigid tumbling satellite as a two-link serial chain with unknown stiffness and damping in contrast to previous detumbling research works which consider the satellite a rigid body. We develop a novel adaptive robotics approach to detumble the satellite by using two space tugs as servicer despite the uncertain dynamics in the post-capture case. Notably, the stiffness properties and other physical parameters, including the mass and inertia of the two links, remain unknown to the servicer. Our proposed method addresses the challenges in detumbling tasks and paves the way for advanced manipulation of non-rigid satellites with uncertain dynamics.