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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

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    Abstract

    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.

    Item type: Article
    ID code: 37634
    Keywords: nonholonomic motion planning, parametric optimization, pontryagin's maximum principle, attitude control, tracking, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Mechanical Engineering, Control and Systems Engineering, Electrical and Electronic Engineering, Computer Science(all)
    Subjects: Technology > Mechanical engineering and machinery
    Technology > Motor vehicles. Aeronautics. Astronautics
    Department: Faculty of Engineering > Mechanical and Aerospace Engineering
    Technology and Innovation Centre > Advanced Engineering and Manufacturing
    Related URLs:
      Depositing user: Pure Administrator
      Date Deposited: 14 Feb 2012 11:18
      Last modified: 06 Sep 2014 13:59
      URI: http://strathprints.strath.ac.uk/id/eprint/37634

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