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On-orbit assembly using superquadric potential fields

Badawy, Ahmed and McInnes, Colin (2008) On-orbit assembly using superquadric potential fields. Journal of Guidance, Control and Dynamics, 31 (1). pp. 30-43. ISSN 0731-5090

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Abstract

The autonomous on-orbit assembly of a large space structure is presented using a method based on superquadric artificial potential fields. The final configuration of the elements which form the structure is represented as the minimum of some attractive potential field. Each element of the structure is then considered as presenting an obstacle to the others using a superquadric potential field attached to the body axes of the element. A controller is developed which ensures that the global potential field decreases monotonically during the assembly process. An error quaternion representation is used to define both the attractive and superquadric obstacle potentials allowing the final configuration of the elements to be defined through both relative position and orientation. Through the use of superquadric potentials, a wide range of geometric objects can be represented using a common formalism, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process.

Item type: Article
ID code: 5380
Keywords: on-orbit assembly, space, superquadratic fields, control systems, mechanical engineering, Mechanical engineering and machinery, Motor vehicles. Aeronautics. Astronautics, Applied Mathematics, Control and Systems Engineering, Electrical and Electronic Engineering, Space and Planetary Science, Aerospace Engineering
Subjects: Technology > Mechanical engineering and machinery
Technology > Motor vehicles. Aeronautics. Astronautics
Department: Faculty of Engineering > Mechanical and Aerospace Engineering
Depositing user: Strathprints Administrator
Date Deposited: 05 Feb 2008
Last modified: 21 May 2015 10:07
URI: http://strathprints.strath.ac.uk/id/eprint/5380

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