Autonomous Distributed Control of Simultaneous Multiple Spacecraft Proximity Maneuvers

Abstract

Abstract-An autonomous distributed control algorithm for multiple spacecraft performing simultaneous close proximity maneuvers has been developed. Examples of these maneuvers include automated on-orbit inspection, assembly, or servicing. The proposed control algorithm combines the control effort efficiency of the Linear Quadratic Regulator (LQR) and the robust collision avoidance capability of the Artificial Potential Function (APF) method. The LQR control effort serves as the attractive force toward goal positions, while APF-based repulsive functions provide collision avoidance for both fixed and moving obstacles. Comprehensive validation and performance evaluation of the control algorithm is conducted by numerical simulations. The simulation results show the developed LQR/APF algorithm to be both robust and efficient for controlling multiple spacecraft during simultaneous docking maneuvers.Note to Practitioners-Use of multiple spacecraft for close proximity operations is expected to increase in future space missions. A challenging problem is how to automate motion planning and control of multiple spacecraft in close proximity. This paper presents a distributed control algorithm for simultaneous docking maneuvers of multiple spacecraft.

Laboratory experiments of resident space object capture by a spacecraft–manipulator system

“…LQR controllers have been proposed for spacecraft proximity maneuvering and successfully demonstrated in the POSEIDYN test bed [37] and during on-orbit demonstrations [38].…”

A near-optimal guidance for cooperative docking maneuvers

“…In Table 1 are shown the initial positions and the initial masses of the two FSSs. To evaluate the IDVD-SGRA performances, for both types docking execution D1 and D2, the same maneuvers have been performed using an LQR controller [7][8][9][10][11]. Since such controller does not enforce any constraint on the maximum maneuver time, in order to ensure that this parameter is equal for all the controllers, we have first executed the dockings with the LQR then we have set the resulting maneuver times as t MAX for the IDVD-SGRA (Table 1).…”

“…For comparison purposes, the same set of docking maneuvers has also been executed using an LQR controller [7][8][9][10][11]. The results show that the docking trajectories performed with the IDVD-SGRA guidance are characterized by a lower amount of total maneuver energy and fuel consumption with respect to the LQR.…”

Simulations of Multiple Spacecraft Maneuvering with MATLAB/Simulink and Satellite Tool Kit

“…The sensor projection is the globular grid with the chase spacecraft in the upper right. These sensors allowed for robust engineering evaluation of the collision-avoidance function of spacecraft control algorithms [6,7,12,13]. From these basic examples, the user can develop a vast array of representative sensors.…”