Optimal Control for Spacecraft to Rendezvous with a Tumbling Satellite in a Close Range

Ma, Zhanhua; Ma, Ou; Shashikanth, Banavara N.

doi:10.1109/iros.2006.281877

Cited by 18 publications

(8 citation statements)

References 8 publications

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“…erefore, high precise modeling is an essential step to overcome the highly coupled drawback during SFA mission. Ma et al [9] used C-W dynamics equation to establish the relative translational motion and adopted modified Rodrigues parameters to describe the relative rotational dynamics. Similar modeling method has also been performed in [10].…”

Section: Introductionmentioning

confidence: 99%

Extended‐State‐Observer‐Based Terminal Sliding Mode Tracking Control for Synchronous Fly‐Around with Space Tumbling Target

Chen

Zhao

Bai

et al. 2019

Mathematical Problems in Engineering

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This paper presents a robust controller with an extended state observer to solve the Synchronous Fly-Around problem of a chaser spacecraft approaching a tumbling target in the presence of unknown uncertainty and bounded external disturbance. The rotational motion and time-varying docking trajectory of tumbling target are given in advance and referred as the desired tracking objective. Based on dual quaternion framework, a six-degree-of-freedom coupled relative motion between two spacecrafts is modeled, in which the coupling effect, model uncertainties, and external disturbances are considered. More specially, a novel nonsingular terminal sliding mode is designed to ensure the convergence to the desired trajectory in finite time. Based on the second-order sliding mode, an extended state observer is employed to the controller to compensate the closed-loop system. By theoretical analysis, it is proved that the modified extended-state-observer-based controller guarantees the finite-time stabilization. Numerical simulations are taken to show the effectiveness and superiority of the proposed control scheme. Finally, Synchronous Fly-Around maneuvers can be accomplished with fast response and high accuracy.

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Section: Introductionmentioning

confidence: 99%

Extended‐State‐Observer‐Based Terminal Sliding Mode Tracking Control for Synchronous Fly‐Around with Space Tumbling Target

Chen

Zhao

Bai

et al. 2019

Mathematical Problems in Engineering

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“…References [9,10] propose the application of the inverse dynamics in the virtual domain method together with the sequential gradient-restoration algorithm (SGRA) as a suboptimal guidance strategy for the planar docking maneuver of a chaser to a target. Openloop guidance is investigated in [14,15]. Reference [14] studies the optimal trajectory of the chaser toward zero relative attitude and angular velocity with respect to a tumbling target object.…”

Section: Introductionmentioning

confidence: 99%

“…Openloop guidance is investigated in [14,15]. Reference [14] studies the optimal trajectory of the chaser toward zero relative attitude and angular velocity with respect to a tumbling target object. The problem of a minimum-fuel rendezvous is solved by using Pontryagin's maximum principle.…”

Section: Introductionmentioning

confidence: 99%

“…The primary evaluation method for rendezvous and docking algorithms is the numerical simulation, with examples given in [7][8][9]11,[14][15][16]. Numerical simulations typically consider three-dimensional six-degree-of-freedom trajectories [7,[14][15][16], although some are limited to planar three-degree-of-freedom (3-DOF) trajectories [8][9][10] or 3-DOF translation-only trajectories [11]. The simulations are quick, do not require expensive equipment, and produce instant results without the need to statistically analyze experimental data.…”

Section: Introductionmentioning

confidence: 99%

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Experimental Characterization of Inverse Dynamics Guidance in Docking with a Rotating Target

Wilde

Ciarcià

Grompone

et al. 2016

Journal of Guidance, Control, and Dynamics

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The performance of an inverse dynamics guidance and control strategy is experimentally evaluated for the planar maneuver of a "chaser" spacecraft docking with a rotating "target." The experiments were conducted on an airbearing proximity maneuver testbed. The chaser spacecraft simulator consists of a three-degree-of-freedom autonomous vehicle floating via air pads on a granite table and actuated by thrusters. The target consists of a docking interface mounted on a rotational stage with the rotation axis perpendicular to the plane of motion. Given a preassigned trajectory, the guidance and control strategy computes the required maneuver control forces and torque via an inverse dynamics operation. The recorded data of 150 experimental test runs were analyzed using two-way analysis of variance and post hoc Tukey tests. The metrics were maneuver success, vehicle mass change, maneuver duration, thruster duty cycle, and maneuver work. The results showed that the guidance and control algorithm provided robust performance over a range of target rotation rates from 1 to 4 deg ∕s. = maximum available torque, N · m T z = chaser torque about z axis of laboratory coordinate system, N · m t = maneuver time, s t D = total duration of docking maneuver, s t DA = duration of final docking approach, s t FF = duration of free-flight phase, s t f = final maneuver time, s W = maneuver work, J x C ; y C T = planar position vector of chaser center of mass in laboratory coordinate system, m x T ; y T T = planar position vector of the target center of rotation in laboratory coordinate system, m x; y; z = Cartesian coordinate system fixed in laboratory x 0 ; y 0 ; z 0 = Cartesian coordinate system fixed to chaser spacecraft simulator x 0 0 ; y 0 0 ; z 0 0 = Cartesian coordinate system fixed to target object γ = auxiliary maneuver targeting angle, rad Δm = chaser mass change, kg Δr = positioning tolerance for completion of docking maneuver, m Δt DA = extended maneuver time beyond nominal maneuver time, s Δt G = time step of the guidance algorithm, s ζ = auxiliary maneuver targeting angle, rad θ C = chaser orientation angle in relation to laboratory coordinate system, rad θ T = target orientation angle in relation to laboratory coordinate system, rad χ ij = thruster activity for thruster j at time step ∈ 0; 1, s ω T = target object angular rate, rad∕s

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“…Previous to the critical milestone, The National Space Development Agency of Japan (NASDA) performed unmanned autonomous rendezvous docking (RVD) experiments [I,2] using the Engineering Test Satellite VII (ETS-VII) in 1998 and 1999.Also many researchers did a lot of work on this problem. Philip[3] adopted phase-plane control technique to control the relative position; Ortega [4] used a gene-fuzzy controller performing the closed loop operations autonomously autonomously and a genetic algorithm tool to optimize the controller so as to reduce docking time and fuel consumption; Zhanhua Ma [5] adopted Pontryagin's maximum principle to generate the optimal approaching traj ectory and the correspond ing set of the control force/torque profiles. In these literatures, the relative motion equations are linearized.…”

Section: Introductionmentioning

confidence: 99%

Autonomous robust orbital and attitude coupling control of final proximity in rendezvous

Chen

Jing

Xia

2008

2008 2nd International Symposium on Systems and Control in Aerospace and Astronautics

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Fig.l.LVLH frame to describe the relative motion referring to target the same time. In our work, at one hand we try to solve the terminal proximity problem taking the coupling into account. The linearzing error of the relative model, measurement noise of relative velocity and position and the misalignment of the thruster are also taken into consideration. At the other hand the adverse of the orbital control acting on the attitude control system are also considered when design the attitude tracking controller. The outstanding feature is that the orbital control and attitude control command are implemented by the same thrusters system. Our control method have good prospect for engineering practice.The rest ofthis paper is organized as following. In section II the orbital tracking control problem, the attitude tracking problem and the coordination problem between orbital and attitude control are formulated. In section III the linear H 00 model reference controller for orbital control and the nonlinear H 00 controller for attitude control are designed. The coordination method is also given. In section IV the simulation scenario and results are given. Section Vconclude this paper. II. PROBLEM FORMULATIONA. The proximity tracking control problem formulation Referring to Fig.l, assume there is a target spacecraft in a circle orbit. Attached to the target center of mass is a right-handed local-vertical-local horizontal (LVLH) frame, with the z-axis downward along the vector R to the center of mass of the earth; the x-axis along the target velocity vector V and perpendicular to the z-axis; and the y-axis completing the right-handed frame.In the LVLH frame, the location of chaser spacecraft is (x,y,z) , and its velocity is(~~,r~v,~~).When the chaser approaches the target, its relative velocity must be diminished to safe limits. This requirement can be fulfilled by tacking a traj ectory along which the velocity decays exponentially [6]. We adopt a widely used glideslope scheme which is illustrated by Fig.2. The speed jJ must diminish with p . jJ is obtained by differentiating p .Since the proximity time is very short, we can treat the LVLH frame as an inertial target sapcecraftAbstract-In the final proximity of rendezvous, linear H 00 and nonlinear H 00 control method are adopt for orbital tracking control and attitude tracking control respectively. We use the same thrusters system to implement orbital and attitude control command simultaneously. Because of the coupling caused by implementation, orbital control and attitude control command may conflict; we adopt a logic coordination method to avoid this situation. To the best of our knowledge, this is the first solution for orbital and attitude coupling control by the same implementation system in the final proximity of rendezvous. Numerical simulation verifies the validity and feasibility.I.

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Optimal Control for Spacecraft to Rendezvous with a Tumbling Satellite in a Close Range

Cited by 18 publications

References 8 publications

Extended‐State‐Observer‐Based Terminal Sliding Mode Tracking Control for Synchronous Fly‐Around with Space Tumbling Target

Extended‐State‐Observer‐Based Terminal Sliding Mode Tracking Control for Synchronous Fly‐Around with Space Tumbling Target

Experimental Characterization of Inverse Dynamics Guidance in Docking with a Rotating Target

Autonomous robust orbital and attitude coupling control of final proximity in rendezvous

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