A near-optimal guidance for cooperative docking maneuvers

Ciarcià, Marco; Grompone, Alessio; Romano, Marcello

doi:10.1016/j.actaastro.2014.01.002

Cited by 31 publications

(20 citation statements)

References 14 publications

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“…If the deviation from the reference docking trajectory is significant it is necessary to update it by recalculating the coefficients in Eq. (18). The updates could be also regular with some time step.…”

Section: Figure 7 Block Diagram Of the Control Systemmentioning

confidence: 99%

“…The inverse dynamics approach was implemented for CubeSats self-assembling and tested on the air table test bench [17]. Guidance strategy based on the inverse dynamics in the virtual domain and the nonlinear programming solver was applied to the path planning for docking maneuvers between two floating simulators in the Spacecraft Robotics Laboratory at the Naval Postgraduate School [18].…”

Section: Introductionmentioning

confidence: 99%

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Docking algorithm for flexible microsatellite mock-ups on planar air-bearing test-bench

Ivanov

Koptev²,

Tkachev

et al. 2017

KIAM Prepr.

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Recommended form of bibliographic references: Ivanov D.S., Koptev M.D., Tkachev S.S., Shachkov M.O. Docking algorithm for flexible microsatellite mock-ups on planar air-bearing testbench // Keldysh Institute Preprints. 2017. No. 110. 24 p. doi:10.20948/prepr-2017 Стыковка макетов микроспутников с нежесткими элементами конструкции на аэродинамическом столе В работе рассматривается алгоритм управления макетом микроспутника с гибкими стержнями во время стыковки с некооперируемой целью на аэродина-мическом столе. Предложена линейная модель движения макета с нежесткими элементами. Вектор состояния корпуса макета и нежестких элементов оценива-ется с помощью расширенного фильтра Калмана с использованием обработки изображения. В работе представлены результаты исследования разработанных алгоритмов.Ключевые слова: малый спутник, групповой полет, аэродинамическая си-ла, алгоритм управления Ivanov D., Koptev M., Tkachev S., Shachkov M. Docking algorithm for flexible microsatellite mock-ups on planar air-bearing test-bench A motion control algorithm for microsatellite mock-up with flexible rods docking with noncooperative target on the air table is proposed in the paper. A linear motion model of the mock-up with flexible rods is developed. The state vector of the mock-up body and flexible rod is estimated by the extended Kalman Filter using the visual-based navigation system measurements. The results of the experimental study of the developed algorithms are presented.

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Section: Figure 7 Block Diagram Of the Control Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Docking algorithm for flexible microsatellite mock-ups on planar air-bearing test-bench

Ivanov

Koptev²,

Tkachev

et al. 2017

KIAM Prepr.

View full text Add to dashboard Cite

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“…This optimization procedure can be repeated at regular intervals, employing IDVD as a nearoptimal feedback controller. The IDVD approach has been extensively studied for spacecraft docking problems both in simulation [14][15][16]39] and experimentally in the POSEIDYN test bed [17,18].…”

Section: Inverse Dynamics In the Virtual Domain (Idvd)mentioning

confidence: 99%

“…In this research effort, the resultant NLP problem is solved onboard the FSS using the open-source NLP Interior Point OPTimizer (IPOPT) solver [13]. The application of the IDVD approach for spacecraft RPO has been extensively studied in the past by the authors, both on simulation [12,[14][15][16], and experimentally in the POSEIDYN test bed [17,18]. Notably, none of the previously reported experimental results included a keep-out zone constraint.…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers

et al. 2017

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Ground-based experimental evaluations of emerging guidance, navigation, and control (GNC) approaches may be used to raise their technological readiness level and determine their performance and limitations on flight-equivalent hardware (i.e., sensors, actuators, and computational systems) [2].An experimental campaign to evaluate the performance of the model predictive control (MPC) and inverse dynamics in the virtual domain (IDVD) guidance methods has been performed at the Naval Postgraduate School POSEI-DYN 1 air-bearing test bed [4]. The focus of this research is limited in scope to the guidance and control of the simulated spacecraft. The navigation problem is solved by the POSEIDYN test bed motion capture system, which, augmented by onboard sensors, is used to provide accurate navigation data. The test vehicles operating in the POSEI-DYN test bed float on top of a 4-by-4 m granite table and exhibit a drag-free and weightless motion on a plane [4]. These test vehicles are referred to as floating spacecraft simulators, or simply as FSS.A spacecraft docking problem is selected for the experimental evaluation of these two different control approaches. A keep-out zone, an entry cone, and a maximum force constraint are added to the docking scenario to evaluate the constraint handling abilities of the two different controllers. A linear-quadratic MPC (LQ-MPC) algorithm with a quadratic programming (QP) solver and an IDVD algorithm with a nonlinear programming (NLP) solver have been chosen for this comparative study. These two controllers have been implemented and, when executed in real-time on board the FSS, they are successful in 1 POSEIDYN stands for Proximity Operation of Spacecraft: Experimental hardware-In-the-loop DYNamic simulator Abstract An experimental campaign has been conducted to evaluate the performance of two different guidance and control algorithms on a multi-constrained docking maneuver. The evaluated algorithms are model predictive control (MPC) and inverse dynamics in the virtual domain (IDVD). A linear-quadratic approach with a quadratic programming solver is used for the MPC approach. A nonconvex optimization problem results from the IDVD approach, and a nonlinear programming solver is used. The docking scenario is constrained by the presence of a keep-out zone, an entry cone, and by the chaser's maximum actuation level. The performance metrics for the experiments and numerical simulations include the required control effort and time to dock. The experiments have been conducted in a groundbased air-bearing test bed, using spacecraft simulators that float over a granite table.Keywords Rendezvous and proximity operations · Model predictive control · Inverse dynamics · Hardware-in-theloop

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“…Therefore, the guidance and control strategies must be able to adapt to a range of expected rotation or tumbling rates and be able to compensate for errors in the determination of these rates. Most guidance and control strategies proposed (e.g., [7][8][9][10][11][12][13]) involve real-time optimization and trajectory tracking control. For noncooperative targets, [7] introduces a closedloop optimal guidance and feedforward control algorithm that first guides the chaser spacecraft to a synchronized attitude with the target object and then achieves manipulator-based capture.…”

Section: Introductionmentioning

confidence: 99%

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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A near-optimal guidance for cooperative docking maneuvers

Cited by 31 publications

References 14 publications

Docking algorithm for flexible microsatellite mock-ups on planar air-bearing test-bench

Docking algorithm for flexible microsatellite mock-ups on planar air-bearing test-bench

Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers

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

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