An Inverse Dynamics-Based Trajectory Planner for Autonomous Docking to a Tumbling Target

Ventura, Jacopo; Ciarcià, Marco; Romano, Marcello; Walter, Ulrich

doi:10.2514/6.2016-0876

Cited by 16 publications

(13 citation statements)

References 18 publications

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“…The relative attitude has been transformed to attitude angles φ , θ and ψ , which represent roll, pitch and yaw angles, respectively. As can be seen, the attitude tracking errors decay to a much smaller level of steady error less than 4 10 rad − within the prescribed terminal time t f =500s, and the pursuer is actuated by the thrusters to the desired position with steady accuracy better than 3 3 10 m −…”

Section: A Simulation Scenario Without Actuator Faultsmentioning

confidence: 96%

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Robust Fault-Tolerant Tracking Control for Spacecraft Proximity Operations Using Time-Varying Sliding Mode

Shao

Chen

2018

IEEE Trans. Aerosp. Electron. Syst.

126

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The capture of a tumbling free-floating object in orbit using an autonomous vehicle is a key technology for many future orbital missions. Spacecraft proximity operations will play an important role in the success of such missions. This paper technically presents a control approach for proximity operations between a target and a pursuer spacecraft that ensures accurate relative position tracking as well as attitude synchronization. Specifically, an integrated six degrees of freedom dynamics model is first established to describe the coupled relative motion of the pursuer with respect to the target. Then, a robust fault-tolerant tracking control scheme is proposed by combining the sliding mode control with the adaptive technique. It is proved that the control algorithm developed is not only robust against unexpected disturbances and adaptive to unknown and uncertain mass/inertia properties of the pursuer, but also able to accommodate a large class of actuator faults. In particular, by introducing a novel timevarying forcing function into the sliding dynamics, the designed controller is shown to guarantee the finite-time convergence of the translational and rotational tracking errors, and the convergence time as an explicit parameter can be assigned a priori by the designer. Furthermore, a rigorous theoretical analysis is also presented in order to assess the fault-tolerance ability of the designed controller. Finally, numerous examples are carried out to evaluate the effectiveness and demonstrate the benefits of the overall control approach.

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Section: A Simulation Scenario Without Actuator Faultsmentioning

confidence: 96%

“…satellite, and other space missions [1][2][3]. In 1998, the Engineering Test Satellite-VII (ETS-VII) successfully achieved the autonomous rendezvous and docking between two unmanned satellites under the funding and direction of Japan's National Space Development Agency, indicating that the autonomous technology is indeed feasible [4].…”

Section: Introductionmentioning

confidence: 99%

Robust Fault-Tolerant Tracking Control for Spacecraft Proximity Operations Using Time-Varying Sliding Mode

Shao

Chen

2018

IEEE Trans. Aerosp. Electron. Syst.

126

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“…Some of the previous researches focused on the optimization methods. 1,[10][11][12] Jacobsen et al 11 presented a heuristic method and a general numerical optimization technique to plan safe kinematic trajectories for free flying robots approaching an uncontrolled spinning satellite. Boyarko et al 10 developed a sixdegrees-of-freedom (DOF) guidance laws for the rendezvous model of a controlled spacecraft and a tumbling object based on the inverse dynamics in the virtual domain method, and minimizes a series of performance indices.…”

Section: Introductionmentioning

confidence: 99%

“…A unified optimal control framework contained the control of position, attitude, and flexible motion was presented, which addressed the control of spacecraft to approach and align with a tumbling target. 1 Jacopo Ventura et al 12 developed an inverse dynamics-based trajectory planning algorithm for minimum-energy, and the problem was converted into an equivalent nonlinear programming problem by parameterized the trajectory. Those studies have developed some solutions for approaching a certain tumbling target.…”

Section: Introductionmentioning

confidence: 99%

A novel guidance strategy for autonomously approaching a tumbling target

Zhao

Yuan

2017

Proceedings of the Institution of Mechanical Engineers, Part G:

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A novel guidance strategy is developed based on the artificial potential function for a chaser spacecraft to autonomously approach a freely tumbling target in the on-orbit servicing missions, which can generate the desired velocity instruction for the chaser spacecraft. Considering the collision avoidance constraints, the motion of the tumbling target is classified into three cases. The tumbling axis of the target is perpendicular to its docking port axis in Case 1, and the two axes are nonorthogonal in Case 2, and the two axes are in line in Case 3. Different safe boundaries are established for Case 1 and Case 2, and the desired velocity instruction is determined using the novel guidance strategy, respectively. The method for Case 3 is similar to Case 2. A sliding model controller is designed to control the chaser spacecraft to satisfy the desired velocity instruction. Numerical simulations are performed, and the results show that the developed guidance strategy is an effective method to solve the problem of autonomously approaching a tumbling target.

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“…Another combined guidance and control method developed for docking maneuvers is Inverse Dynamics-Based Trajectory Planning, such as proposed by Ventura et al [11]. Using this method, the docking problem is characterized by a high-order polynomial, and is inverted to be solved as a nonlinear programming problem using solvers such as the Sparse Nonlinear OPTimizer (SNOPT).…”

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confidence: 99%

Cascaded Lyapunov Vector Fields for Spacecraft Relative Trajectory Tracking in Rotating Reference Frames Under Acceleration Constraints

Hough¹

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An Inverse Dynamics-Based Trajectory Planner for Autonomous Docking to a Tumbling Target

Cited by 16 publications

References 18 publications

Robust Fault-Tolerant Tracking Control for Spacecraft Proximity Operations Using Time-Varying Sliding Mode

Robust Fault-Tolerant Tracking Control for Spacecraft Proximity Operations Using Time-Varying Sliding Mode

A novel guidance strategy for autonomously approaching a tumbling target

Cascaded Lyapunov Vector Fields for Spacecraft Relative Trajectory Tracking in Rotating Reference Frames Under Acceleration Constraints

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