Reachability Analysis of Planar Spacecraft Docking with Rotating Body in Close Proximity

Zagaris, Costantinos; Romano, Marcello

doi:10.2514/1.g003389

Cited by 21 publications

(15 citation statements)

References 9 publications

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“…However, failed spacecraft in space are often unable to maintain a stable attitude or rotation. For a rotating target, Costantinos et al [11] analyzed the reachability of planar docking with a rotating target, and the reachability was found to depend on a set of initial conditions, which is related to the rotating angular velocity and control force amplitude. Ventura et al [12] proposed an onboard trajectory planning generated by a direct optimization method, which is based on the inversion of the system dynamics for autonomous docking between a controlled spacecraft and an uncontrolled tumbling target in circular orbit.…”

Section: Introductionmentioning

confidence: 99%

Safe Proximity Operation to Rotating Non-Cooperative Spacecraft with Complex Shape Using Gaussian Mixture Model-Based Fixed-Time Control

et al. 2020

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This paper studies the safety control problem for rotating spacecraft proximity maneuver in presence of complex shaped obstacles. First, considering the attitude change of the target spacecraft, a dynamic model of close-range relative motion in a body-fixed coordinate system is derived using a novel approach. Then, the Gaussian mixture model (GMM) is utilized to reconstruct the complex shape of the spacecraft, and a novel GMM-based artificial potential function (APF) is proposed to represent the collision avoidance requirement. By combining GMM-based APF with fixed-time stability methodology, a fixed-time control (FTC) is designed for close-range proximity operation to a rotating spacecraft having a complex shape. The presented GMM-FTC scheme can guarantee the convergence of relative state errors, and ensure that no collision occurs. Finally, simulation results are provided to illustrate the feasibility of the proposed control approach.

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Section: Introductionmentioning

confidence: 99%

Safe Proximity Operation to Rotating Non-Cooperative Spacecraft with Complex Shape Using Gaussian Mixture Model-Based Fixed-Time Control

et al. 2020

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“…Unlike the cooperative situations, when approaching the noncooperative target, the desired position of the chaser varies with time. To fulfill these tasks, autonomous rendezvous and docking with noncooperative target lays as the cornerstone for unmanned chaser spacecraft [7][8][9]. However, the space environment is complex because of space debris and accessories of noncooperative targets such as antennas, which are overwhelming obstacles for autonomous rendezvous and docking.…”

Section: Introductionmentioning

confidence: 99%

Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target

Liu

2019

Mathematical Problems in Engineering

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The problem of artificial potential function (APF) safety and obstacle avoidance guidance for autonomous rendezvous and docking of chaser spacecraft with noncooperative spacecraft is studied. The relative motion equation of the chaser and the target is established based on the line-of-sight coordinate system, the reference state is designed, and the corresponding state error is deduced. The attitude motion equation of the noncooperative target spacecraft in space is established. The safety and obstacle avoidance guidance problem of autonomous rendezvous and docking with noncooperative target is transformed into a path planning problem in a dynamic environment. The attractive potential function is designed according to the state error. In order to ensure that the chaser can safely approach the noncooperative target spacecraft, a safe corridor with ellipse cissoid is designed in the final approaching stage of autonomous rendezvous and docking. The obstacle is assumed to be a sphere with a certain radius to avoid its influence in the approach, and the obstacle potential function is designed based on the Gaussian function method. The total potential function of the system is designed according to the attractive potential function, the safe potential function, and the obstacle potential function. The total potential function of the system is modified to ensure that the reference state is the minimum of the total potential function of the system. The stability of the system is proven according to the Lyapunov stability principle, and the conditions for satisfying the monotonic decrease in the total potential function of the system are deduced. Finally, the effectiveness of the proposed method is verified by three sets of numerical simulations.

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“…Using the current state estimates, the approach trajectory is calculated and the control is updated. Zagaris and Romano [26] proposed a reachability analysis for planar docking onto a spinning target. The translational-only control problem of rendezvous and docking was solved by Dong et al [27] by encoding the approach and obstacle avoidance constraints into the artificial potential function and sliding mode scheme, following which an adaptive controller was implemented.…”

Section: Previous Workmentioning

confidence: 99%

“…A planar formulation, as provided in this chapter, is primarily done as a stepping stone to ultimately performing the experimental validation. It is to be noted that planar simplification does not affect generality of the control methodology [26]. Hence, a planar rigid body motion of both chasers and the target is considered.…”

Section: A Case For Planar Analysismentioning

confidence: 99%

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Pose Tracking Control for Spacecraft Proximity Operations Using the Udwadia-Kalaba Framework

Pothen¹

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This thesis develops an analytical dynamics-based approach for simultaneous position and orientation tracking control of a chaser spacecraft with respect to an uncontrolled target spacecraft. The control requirements are formulated as holonomic or nonholonomic constraints, which are differentiated to obtain a constraint equation linear in acceleration. Exact real-time control forces are then generated by substituting the control constraints into the Udwadia-Kalaba equation. Three major contributions are presented. Firstly, the complete six-degree-of-freedom formulation of the Udwadia-Kalaba based pose tracking controller is presented. Simulations demonstrate the achievement of the desired objectives in space. Subsequently, a planar pose tracking controller is formulated for both a single and dual chaser configuration. Simulation results highlight the planar position and orientation synchronization with respect to a spinning target. Finally, the controller is experimentally validated in the Spacecraft Proximity Operations Testbed at Carleton University. Results show that the pose tracking control objective is achieved.

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Reachability Analysis of Planar Spacecraft Docking with Rotating Body in Close Proximity

Cited by 21 publications

References 9 publications

Safe Proximity Operation to Rotating Non-Cooperative Spacecraft with Complex Shape Using Gaussian Mixture Model-Based Fixed-Time Control

Safe Proximity Operation to Rotating Non-Cooperative Spacecraft with Complex Shape Using Gaussian Mixture Model-Based Fixed-Time Control

Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target

Pose Tracking Control for Spacecraft Proximity Operations Using the Udwadia-Kalaba Framework

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