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Optimal geometric motion planning for a spin-stabilized spacecraft

Biggs, James and Horri, Nadjim (2012) Optimal geometric motion planning for a spin-stabilized spacecraft. Systems and Control Letters, 61 (4). pp. 609-616. ISSN 0167-6911

Biggs_JD_Pure_Optimal_geometric_motion_planning_for_spin_stabilized_spacecraft_Feb_2012.pdf - Preprint

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A method requiring low-computational overhead is presented which generates low-torque reference motions between arbitrary orientations for spin-stabilized spacecraft. The initial stage solves a constrained optimal control problem deriving analytical solutions for a class of smooth and feasible reference motions. Specifically, for a quadratic cost function an application of Pontryagin’s maximum principle leads to a completely integrable Hamiltonian system that is, exactly solvable in closed-form, expressed in terms of several free parameters. This is shown to reduce the complexity of a practical motion planning problem from a constrained functional optimization problem to an unconstrained parameter optimization problem. The generated reference motions are then tracked using an augmented quaternion feedback law, consisting of the sum of a proportional plus derivative term and a term to compensate nonlinear dynamics. The method is illustrated with an application to re-point a spin-stabilized agile micro-spacecraft using zero propellant. The low computational overhead of the method enhances its suitability for on-board motion generation.