Three-dimensional modeling and time-delay stability analysis for robotics docking simulation

Prateek Sazawal, Daniel Choukroun, Heike Benninghoff, Eberhard Gill

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


Hardware-in-the-loop simulations of two interacting bodies are often accompanied by a time delay. The time delay, however small, may lead to instability in the hardware-in-the-loop system. The present work investigates the source of instability in a two spacecraft system model with a time-delayed contact force feedback. A generic compliance-device-based contact force model is proposed with elastic, viscous, and Coulomb friction effects in three dimensions. A 3D nonlinear system model with time delay is simulated, and the effect of variations in contact force model parameters is studied. The system is then linearized about a nominal state to determine the stability regions in terms of parameters of the spring-dashpot contact force model by the pole placement method. Furthermore, the stability analysis is validated for the nonlinear system by energy observation for both the stable and unstable cases.

Original languageEnglish
Pages (from-to)5438-5455
Number of pages18
JournalProceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
Issue number14
StatePublished - 1 Nov 2019


  • Contact model
  • compliance device
  • hardware-in-the-loop docking simulator
  • time-delay system

ASJC Scopus subject areas

  • Aerospace Engineering
  • Mechanical Engineering


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