Electrical and Computer Engineering ETDs

Publication Date

Fall 12-13-2025

Abstract

This thesis details the system modeling, design, control, simulation, construction, and testing of a fully-actuated seven axis prismatic joint system created for the primary purpose of emulating on-orbit maintenance tasks. Additionally, it seeks to further research of space-based control schemas and investigate stiction as a case study with a mountable hybrid hinge system that emulates stiction. Controllers are evaluated under common limits and metrics, including time to escape, overshoot, mechanical work, and limit-exceedance counts. Comparisons span a PID baseline, deterministic MPC/MPPI, and a probabilistic POMDP policy. Results verify the emulator and hybrid hinge meet the intended design criteria and show that the POMDP resolves stiction faster than the competing controllers, with lower or comparable work input and fewer limit events than deterministic baselines.

Keywords

Testbed, Orbital Emulation, POMDP, MPC, Controls, Simulation

Document Type

Thesis

Language

English

Degree Name

Electrical Engineering

Level of Degree

Masters

Department Name

Electrical and Computer Engineering

First Committee Member (Chair)

Rafael Fierro

Second Committee Member

Balasubramaniam Santhanam

Third Committee Member

Fernando Moreu

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