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
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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.
|Keywords:||nonholonomic motion planning, parametric optimization, pontryagin's maximum principle, attitude control, tracking, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics|
|Subjects:||Technology > Mechanical engineering and machinery|
Technology > Motor vehicles. Aeronautics. Astronautics
|Department:||Faculty of Engineering > Mechanical and Aerospace Engineering|
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|Depositing user:||Pure Administrator|
|Date Deposited:||14 Feb 2012 11:18|
|Last modified:||28 Jun 2013 19:56|
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